Abstract：The model-based sensorless control of permanent magnet synchronous motor (PMSM) is effective at medium and high speed regions. Among several model-based methods, the flux observation method can achieve better performance because the rotor flux of PMSM is constant or calculable even when the speed or current is time-varying. However, due to the inverter nonlinearity, the initial position detection error, and the current measurement bias, the estimated flux will inevitably contain interfering signals such as ramp signal, DC bias, and harmonics. These interfering signals will reduce the steady-state accuracy of rotor position estimation, increase speed fluctuation, and even make the system unstable in severe cases. Therefore, a flux observer based on an extended master-slave adaptive notch filter (EMAF) is proposed. The EMAF can track the signals containing multi-components by using their characteristics. Thus, considering the characteristic of interfering signals in estimated flux, we design the EMAF, which can accurately track these interfering signals. Besides, by introducing a new variable in EMAF, the dc deviation of integral terms is tracked and compensated, and the ramp signal caused by integrating is also eliminated. This method can directly estimate the rotor flux without estimating the back-EMF first. Since many parameters in EMAF need to tune, a parameter tuning graphical method of EMAF is given to simplify the tuning process, transforming the multi-parameter tuning into single-parameter tuning. In addition, under varying speeds, the traditional phase-locked loop (PLL) can not accurately track the frequency, which degrades the dynamic performance. Therefore, a dynamic frequency tracking algorithm (DFT) is proposed. In this method, the motion equation is applied, and the extended state observer (ESO) is designed to estimate the frequency. Since the varying rate of the rotor speed is considered in ESO, compared with the phase-locked loop or frequency-locked loop, this method is more applicable under changing speed. Based on EMAF and DFT, the overall sensorless control system of PMSM is designed. Compared the traditional flux sliding mode observer (FSMO) and the proposed EMAF under different speeds, the results show that the EMAF can effectively reduce the interfering signals, including the 5th and 7th harmonics, the dc bias, and the ramp signal, thus improving the accuracy of rotor position estimation and reducing the speed fluctuation. The bandwidths of the traditional PLL and the proposed DFT under linear changing and sine changing speeds are the same. The proposed DFT can greatly reduce the frequency tracking error when speed varies, thus improving the dynamic performance. Therefore, the proposed method is effective for enhancing the sensorless performance of PMSM.
葛扬, 宋卫章, 杨洋. 基于扩张式主从自适应陷波滤波器与动态频率跟踪的永磁同步电机无传感器控制[J]. 电工技术学报, 2023, 38(14): 3824-3835.
Ge Yang, Song Weizhang, Yang Yang. PMSM Sensorless Control Based on Extended Master-Slave Adaptive Notch Filter and Dynamic Frequency Tracking. Transactions of China Electrotechnical Society, 2023, 38(14): 3824-3835.
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