采用ESO的自适应算法在PMSM无位置传感器控制中的应用

分析了模型参考自适应 (Model reference adaptive system，MRAS)实现永磁同步电机无位置传感器控制的原理，针对传统的MRAS抗扰动性差，位置估计误差大的问题，提出采用扩张状态观测器（Extended State Observer，ESO）代替传统PI观测器。ESO不仅能提高转子位置的估计精度，其观测的负载转矩还能用作前馈补偿，以减小负载转矩扰动对系统的影响。试验结果表明，在负载和速度突变情况下，使用新型变结构模型参考自适应（MRAS_ESO）估算的转速较传统MRAS的抗干扰性能力更好，系统的鲁棒性更强。

Application of Adaptive Algorithm Method in PMSM Sensorless Control Using Extended State Observer

The principle of permanent magnet synchronous motor (PMSM) sensorless control based on model reference adaptive system (MRAS) was analyzed. An extended state observer (ESO) was proposed to substitute PI controller to solve the problem of poor anti-disturbance and decrease position estimation error of the traditional MRAS. ESO can not only improve the estimation accuracy of rotor position, but the observed load torque can also be used as feedforward compensation to reduce the influence of load torque disturbance on the system. Experiment results show that in the case of sudden changes in speed or load, the speed estimated using the new model reference adaptive (MRAS_ESO) has better anti-interference ability and stronger system robustness than traditional MRAS.