电气工程学报 ›› 2023, Vol. 18 ›› Issue (4): 96-105.doi: 10.11985/2023.04.011

• 特邀专栏:轻量化高可靠永磁电机系统 • 上一篇    下一篇

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基于高阶滑模观测器和改进PLL的永磁同步电机无传感器控制*

李迎杰1,2(), 刘旭东1,2()   

  1. 1.青岛大学自动化学院 青岛 266071
    2.青岛大学山东省工业控制技术重点实验室 青岛 266071
  • 收稿日期:2023-06-27 修回日期:2023-08-19 出版日期:2023-12-25 发布日期:2024-01-12
  • 通讯作者: 刘旭东,男,1987年生,博士,副教授。主要研究方向为电驱动系统控制、非线性控制。E-mail:xudong19871982@163.com
  • 作者简介:李迎杰,男,1997年生,硕士研究生。主要研究方向为电机驱动与运动控制。E-mail:17852028311@163.com
  • 基金资助:
    *国家自然科学基金(62273189);山东省自然科学基金(ZR2022MF262);山东省自然科学基金(ZR2021MF005)

Sensorless Control of Permanent Magnet Synchronous Motor Based on High-order Sliding Mode Observer and Improved PLL

LI Yingjie1,2(), LIU Xudong1,2()   

  1. 1. School of Automation, Qingdao University, Qingdao 266071
    2. Shandong Key Laboratory of Industrial Control Technology, Qingdao University, Qingdao 266071
  • Received:2023-06-27 Revised:2023-08-19 Online:2023-12-25 Published:2024-01-12

摘要:

滑模观测器因其结构简单、鲁棒性强等优势,广泛应用于永磁同步电机(Permanent magnet synchronous motor,PMSM)无位置传感器控制中,但滑模观测器的固有抖振会影响系统的控制性能。为此,基于PMSM扩展反电动势模型,通过改进滑模面和控制律,提出了一种高阶对数滑模观测器(High order logarithmic sliding mode observer,HOLnSMO),实现了有限时间收敛和对反电动势的平滑估计。此外,为提高转子位置和转速估计精度,在锁相环环节设计了一种基于三阶Super-twisting滑模方法的扩展状态观测器,有效抑制了转速抖振。根据Lyapunov稳定性理论证明了系统的稳定性。最后通过对比试验验证了所提无位置控制策略具有良好的转速估计精度、动态性能和鲁棒性。

关键词: 永磁同步电机, 高阶对数滑模, 扩展状态观测器, 无位置传感器

Abstract:

Due to the simple structure and strong robustness, the sliding mode observer is widely used in sensorless control of permanent magnet synchronous motor(PMSM), but the inherent chattering of the sliding mode observer will affect the control performance of the system. A high order logarithmic sliding mode observer(HOLnSMO) is proposed based on extended back electromotive force model of PMSM by improving sliding mode surface and control law, which achieves finite-time convergence and smooth estimation of back electromotive force. In addition, to improve the precision of rotor position and speed estimation, an expanded state observer based on a three-order super-twisting sliding model method is designed at the phase-locked loop link and the speed chattering is effectively suppressed. The stability of the system is proved according to Lyapunov stability theory. Finally, the proposed sensorless control strategy is proved to have good speed estimation accuracy, dynamic performance and strong robustness by comparative experiments.

Key words: Permanent magnet synchronous motor, high-order logarithmic sliding mode, extended state observer, position sensorless

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