电工技术学报  2020, Vol. 35 Issue (zk1): 155-163    DOI: 10.19595/j.cnki.1000-6753.tces.L80521
电机与电器 |
基于改进指数趋近律的感应电机滑模转速观测器研究
陈闯, 王勃, 于泳, 霍峙昕, 徐殿国
1. 哈尔滨工业大学电力电子与电力传动研究所 哈尔滨 150001;
2. 哈尔滨工业大学电气工程学院 哈尔滨 150001
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
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摘要 针对无速度传感器感应电机矢量控制系统的转速估计问题,基于指数趋近律的滑模观测器能够有效削弱系统抖振,但传统指数趋近律仍存在增益固定的等速趋近项,因此其抖振问题仍然存在。为此,该文提出一种基于改进指数趋近律的滑模观测器来进一步削弱系统抖振,并实现了对系统状态的自适应控制。首先,选取定子电流误差作为滑模面,设计定子电流和转子磁链观测器,并通过将定子电流观测信息引入传统指数趋近律作为可变增益,实现了观测器对系统状态的自适应控制,能够在削弱系统抖振的同时保证系统收敛速度。进一步构建转速自适应观测器,并通过李雅普诺夫稳定性定理推导转速自适应律,实现对电机转速的准确观测。对比实验结果表明,该文提出的观测器能根据系统状态自适应调节系统收敛速度,并有效削弱传统基于指数趋近律滑模观测器中存在的抖振现象。
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陈闯
王勃
于泳
霍峙昕
徐殿国
关键词 感应电机转速观测器滑模控制指数趋近律抖振    
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.
Key wordsInduction motor    speed observer    sliding mode control    exponential reaching law    chattering   
收稿日期: 2018-06-30      出版日期: 2020-03-05
PACS: TM346+.2  
基金资助:国家自然科学基金重大项目子课题(51690182),国家自然科学基金青年项目(51807038)和《台达电力电子科教发展计划》(DREK2017002)资助项目
通讯作者: 于 泳 男,1974年生,教授,博士生导师,研究方向为感应电机无速度传感器控制技术、参数辨识、故障诊断、容错控制、安全性保障相关技术。E-mail: yuyong@hit.edu.cn   
作者简介: 陈 闯 男,1993年生,硕士,研究方向为感应电机驱动。E-mail: chenchuang8241@163.com
引用本文:   
陈闯, 王勃, 于泳, 霍峙昕, 徐殿国. 基于改进指数趋近律的感应电机滑模转速观测器研究[J]. 电工技术学报, 2020, 35(zk1): 155-163. Chen Chuang, Wang Bo, Yu Yong, Huo Zhixin, Xu Dianguo. An Improved Exponential Reaching Law Based-Sliding Mode Observer for Speed-Sensorless Induction Motor Drives. Transactions of China Electrotechnical Society, 2020, 35(zk1): 155-163.
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https://dgjsxb.ces-transaction.com/CN/10.19595/j.cnki.1000-6753.tces.L80521          https://dgjsxb.ces-transaction.com/CN/Y2020/V35/Izk1/155