城轨牵引内置式永磁同步电机转速及转子位置检测

针对城轨牵引无传感器内置式永磁同步电机的运行要求,设计了一种基于新型滑模观测器的内置式永磁同步电机转速及转子位置观测器,通过电机电流的滑模观测模块对扩展反电动势进行观测,使用S型函数取代传统的离散控制律,以削弱系统“抖振”；采用转速参数辨识和转子位置角度的锁相环将转速与位置分开观测,以提高转速和转子位置的观测精度；采用变参数PI控制器替代传统的内置式永磁同步电机速度控制环中恒参数PI控制器,以改善系统动态性能.证明了该新型滑模观测器的控制系统的稳定性,开发了基于STM32F103嵌入式微控制器的滑模观测矢量控制系统,实验结果验证了该控制策略的有效性与可行性.

Detection of speed and rotor position of interior permanent magnet synchronous motor for urban rail traction

To meet the operation requirements of sensorless interior permanent-magnet synchronous motor(IPMSM) for urban rail transit,a novel observer for IPMSM speed and rotor position detection based on sliding mode observer(SMO) was designed.The extended back electromotive force(EBEMF) was observed by the motor current module of SMO.Substitution of S function for traditional discrete control rate was used to reduce system jitter.The speed parameter identification and rotor position angle phase-locked loop(PLL) were adopted.The motor speed and rotor position information were obtained respectively to reduce the estimation error of speed and rotor position.Variable parameter PI controller was adopted to improve the dynamic performance.Stability of IPMSM control system based on the novel SMO was proved.Novel SMO vector control system was implemented using a STM32F103 embedded microcontroller.The reliability and validity were verified by experimental results.