基于霍尔位置传感器的PMSM转速观测器状态估算误差抑制方法

霍尔位置传感器成本低,同时能够提供相对精确的位置信息,但其存在位置信息分辨率低、转速测算连续性差及滞后严重等缺点。龙伯格全阶转速观测器是一种闭环调节器,有效地利用了电机系统模型,能够为矢量控制提供较好的转速和角度反馈信号。但在数字控制系统的应用中,受霍尔信号采样周期远大于控制周期的影响,常规观测器的参数和结构设计方法在实际应用中仍无法得到理想的观测结果。该文在分析转速观测器在实际应用中存在问题的基础上,通过结合降阶观测器和多采样理论,提出了一种可有效从低分辨率霍尔位置信号中估算转速、转角的方法。多采样降阶观测器在最大程度上利用了霍尔信号的真实信息,在每个数字控制周期内都能产生转速和转角的估计值,具有理想的估算效果。通过仿真和实验验证了所提方法的有效性,控制效果能够很好地满足中低端伺服应用需求。

State Estimation Error Suppression for PMSM Speed Observer Based on Hall Position Sensor

Hall position sensor is with low cost and it can provide a relative accurate position information.On the other hand,it also has drawbacks such as low position resolution;poor speed measurement continuity and serious information lag behind.The Luenberger speed observer takes advantages of motor model and closed loop control theory thus can provide favorable speed and rotational angle feedback signal when under vector control.However,when it comes to the digital control system,due to the fact the sampling period of hall signal is much longer than that of the control period,ideal observed results still cannot be obtained when using conventional observer parameters and structure design method.Based on the analysis for issues of speed observer when under real applications,an effective speed and rotational angle estimation method which combined the reduced-order observer and multi-sampling theory is proposed in this paper,it best take advantage of the real hall signal information and can provide speed and rotational angle estimation results at each digital control period,besides,theoretical analysis prove that an ideal estimation performance can be achieved.The effectiveness of the proposed algorithm is verified through simulation and experiment,which shows the control performance can satisfy the needs of medium and lower standard servo applications.