An Improved Exponential Reaching Law Based-Sliding Mode Observer for Speed-Sensorless Induction Motor Drives
Chen Chuang, Wang Bo, Yu Yong, Huo Zhixin, Xu Dianguo
1. Power Electronics and Electrical Drives Laboratory Harbin Institute of Technology Harbin 150001 China; 2. School of Electrical Engineering Harbin Institute of Technology Harbin 150001 China
Abstract：For the speed estimation of speed-sensorless induction motor (IMs) vector control system, the conventional exponential reaching law-based sliding mode observer (SMO) can effectively reduce system chattering. However, since there exists an equal reaching term with constant gain, the chattering problem is still inevitable. Therefore, this paper proposes an improved exponential reaching law-based sliding mode observer for speed estimation to further suppress system chattering by achieving adaptive control according to the system state. First, the estimated stator current errors were chosen as sliding mode surfaces. Then a stator current and rotor flux sliding mode observer was designed. In order to realize the adaptive control of the observer on the system state variables, a variable gain was introduced into the conventional exponential reaching law-based SMO. The gain contained the stator current estimation information of SMO. Thus, the system convergence is guaranteed, while the system chattering is attenuated. On this basis, an adaptive speed observer was constructed, and the adaptive speed law was derived by Lyapunov stability theorem. Thus, an accurate observation of motor speed is achieved. The comparison experimental results show that the proposed observer can adjust system convergence speed adaptively according to the system state, and the chattering existing in the conventional sliding mode speed observer can be effectively suppressed.
[1] Bose B K.现代电力电子学与交流传动[M]. 王聪,译. 北京: 机械工业出版社, 2005. [2] 张虎, 张永昌, 夏波, 等. 基于空间矢量调制的感应电机无速度传感器模型预测磁链控制[J]. 电工技术学报, 2017, 32(3): 97-104. Zhang Hu, Zhang Yongchang, Xia Bo, et al.Speed sensorless model predictive flux control of induction motor drives based on space vector modulation[J]. Transactions of China Electrotechnical Society, 2017, 32(3): 97-104. [3] 陈伟, 于泳, 杨荣峰, 等. 异步电机自适应全阶观测器算法低速稳定性研究[J]. 中国电机工程学报, 2010, 30(36): 33-40. Chen Wei, Yu Yong, Yang Rongfeng, et al.Low speed stability research of adaptive full-order observer for induction motor[J]. Proceedings of the CSEE, 2010, 30(36): 33-40. [4] Sun Wei, Yu Yong, Wang Gaolin, et al.Design method of adaptive full order observer with or without estimated flux error in speed estimation algorithm[J]. IEEE Transactions on Power Elec- tronics, 2016, 31(3): 2609-2626. [5] 尹忠刚, 张延庆, 杜超, 等. 基于双辨识参数全阶自适应观测器的感应电机低速性能[J]. 电工技术学报, 2016, 31(20): 111-121. Yin Zhonggang, Zhang Yanqing, Du Chao, et al.Low-speed performance of sensorless vector control for induction motor based on two-parameter identi- fied adaptive full-order observer[J]. Transactions of China Electrotechnical Society, 2016, 31(20): 111-121. [6] 孙宇新, 沈启康, 施凯, 等. 基于新型卡尔曼滤波器的无轴承异步电机无速度传感器控制[J]. 电工技术学报, 2018, 33(13): 2946-2955. Sun Yuxin, Shen Qikang, Shi Kai, et al.Speed- sensorless control system of bearingless induction motor based on the novel extended Kalman filter[J]. Transactions of China Electrotechnical Society, 2018, 33(13): 2946-2955. [7] 刘金琨. 滑模变结构控制Matlab仿真基本理论与设计方法[M]. 北京: 清华大学出版社, 2015. [8] 杨淑英, 丁大尉, 李曦, 等. 基于反电动势滑模观测器的异步电机矢量控制[J]. 电机与控制学报, 2016, 20(10): 23. Yang Shuying, Ding Dawei, Li Xi, et al.Back-EMF based sliding mode observer for vector control of induction machine[J]. Electric Machines and Control, 2016, 20(10): 23. [9] 路强, 沈传文, 季晓隆, 等.一种用于感应电机控制的新型滑模速度观测器研究[J]. 中国电机工程学报, 2006, 26(18): 164-168. Lu Qiang, Shen Chuanwen, Ji Xiaolong, et al.A novel sliding-mode observer for speed-sensorless induction motors[J]. Proceedings of the CSEE, 2006, 26(18): 164-168. [10] 魏伟, 许胜辉, 郭新超. 感应电机混合滑模变结构控制方法[J]. 电机与控制学报, 2009, 13(3): 458-463. Wei Wei, Xu Shenghui, Guo Xinchao.Method on hybrid sliding-mode variable structure control of induction motor[J]. Electric Machines and Control, 2009, 13(3): 458-463. [11] 杨淑英, 孙瑞, 曹朋朋, 等. 一种基于双复合滑模面滑模观测器的异步电机转子电阻辨识方案[J]. 电工技术学报, 2018, 33(15): 3596-3606. Yang Shuying, Sun Rui, Cao Pengpeng, et al.Double compound manifold sliding mode observer based rotor resistance online updating scheme for induction motor[J]. Transactions of China Electrotechnical Society, 2018, 33(15): 3596-3606. [12] 高艳霞, 陈静, 范应鹏, 等. 一种用于异步电机无速度传感器控制的自适应滑模观测器[J]. 电机与控制学报, 2017, 21(4): 8-16. Gao Yanxia, Chen Jing, Fan Yingpeng, et al.Adaptive sliding mode observer based sensorless control system of induction motor[J]. Electric Machines and Control, 2017, 21(4): 8-16. [13] Gao Wei, Guo Zhirong.Speed sensorless control of PMSM using model reference adaptive system and RBFN[J]. Journal of Networks, 2013, 8(1): 213-220. [14] Kim J H, Jou S T, Choi D K, et al.Direct power control of three-phase Boost rectifiers by using a sliding-mode scheme[J]. Journal of Power Electro- nics, 2013, 13(6): 1000-1007. [15] 尚喆, 赵荣祥, 窦汝振. 基于自适应滑模观测器的永磁同步电机无位置传感器控制研究[J]. 中国电机工程学报, 2007, 27(3): 23-27. Shang Zhe, Zhao Rongxiang, Dou Ruzhen.Research on sensorless control method of PMSM based on an adaptive sliding mode observer[J]. Proceedings of the CSEE, 2007, 27(3): 23-27. [16] 陆婋泉, 林鹤云, 冯奕, 等. 永磁同步电机无传感器控制的软开关滑模观测器[J]. 电工技术学报, 2015, 30(2): 106-113. Lu Xiaoquan, Lin Heyun, Feng yi, et al. Soft switching sliding mode observer for sensorless control of permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2015, 30(2): 106-113. [17] 史宏宇, 冯勇. 感应电机高阶终端滑模磁链观测器的研究[J]. 自动化学报, 2012, 38(2): 288-294. Shi Hongyu, Feng Yong.High-order terminal sliding mode flux observer for induction motors[J]. Acta Automatica Sinica, 2012, 38(2): 288-294. [18] 张懿, 吴嘉欣, 韦汉培, 等. 离散型变增益永磁同步电机超螺旋滑模观测器[J]. 电工技术学报, 2018, 33(21): 4962-4970. Zhang Yi, Wu Jiaxin, Wei Hanpei, et al.Discrete variable gain super-twisting sliding mode observer for permanent magnet synchronous motor[J]. Transa- ctions of China Electrotechnical Society, 2018, 33(21): 4962-4970. [19] 张瑶, 马广富, 郭延宁, 等. 一种多幂次滑模趋近律设计与分析[J]. 自动化学报, 2016, 42(3): 466-472. Zhang Yao, Ma Guangfu, Guo Yanning, et al.A multi power reaching law of sliding mode control design and analysis[J]. Acta Automatica Sinica, 2016, 42(3): 466-472. [20] 毛亮亮, 周凯, 王旭东. 永磁同步电机变指数趋近律滑模控制[J]. 电机与控制学报, 2016, 20(4): 106-111. Mao Liangliang, Zhou Kai, Wang Xudong.Variable exponent reaching law sliding mode control of permanent magnet synchronous motor[J]. Electric Machines and Control, 2016, 20(4): 106-111. [21] 郑美茹, 王圣, 王丰, 等. 基于分数阶次符号函数的永磁同步电机滑模控制技术[J]. 电工技术学报, 2017, 32(9): 56-62. Zheng Meiru, Wang Sheng, Wang Feng, et al.The sliding-mode control based on fractional order sign function of permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2017, 32(9): 56-62. [22] 樊英, 周晓飞, 张向阳, 等. 基于新型趋近律和混合速度控制器的IPMSM调速系统滑模变结构控制[J]. 电工技术学报, 2017, 32(5): 9-18. Fan Ying, Zhou Xiaofei, Zhang Xiangyang, et al.Sliding mode control of IPMSM system based on a new reaching law and a hybrid speed controller[J]. Transactions of China Electrotechnical Society, 2017, 32(5): 9-18.
2020, Vol. 35 
