Abstract：Regarding the sensorless control system of permanent magnet synchronous motors (PMSM), this paper combines extended Kalman filtering (EKF) and improved inertial active disturbance rejection control (IADRC). By establishing a mathematical model under the new coordinate system and applying the EKF algorithm, the state of the motor is accurately estimated, thus ensuring the accuracy and stability of the control system. Aiming at the current harmonic disturbance caused by the sudden load change, this paper introduces the second-order oscillation function to optimize the traditional linear active disturbance rejection control and proposes an improved IADRC strategy, which significantly attenuates the harmonic disturbances and strengthens the system's immunity to disturbances. According to the traditional mathematical model of the PMSM motor under the $\gamma \delta $-axis, the mathematical model of the PMSM motor under the estimated rotational coordinate system $\gamma \delta $ is constructed, and the angle ${{e}_{\theta \gamma }}$ between the dq-axis and the $\gamma \delta $-axis is directly estimated, eliminating the influence of the other observers. After that, through the mutual validation of simulation and the mathematical model, the second-order oscillating function is connected in parallel to suppress current harmonics. The 3rd, 5th, and 7th periodic harmonics with high harmonic contents are suppressed. Its effectiveness and stability are proved by Bode's plot and the Nyquist curve plot, respectively. The EKF's direct estimation method of error angle ${{e}_{\theta \gamma }}$ in $\gamma \delta $ coordinate system is verified Through simulation and experiment, speed step, sudden load addition, and starting with rated load. Meanwhile, compared with the traditional PI control and LADRC control, IADRC plays a role in suppressing the low harmonics when the motor is running stably at 1 000 r/min with rated load. The 5th and 7th harmonic contents are reduced by 50.5% and 77.4% compared to PI. The IADRC algorithm based on the LADRC algorithm can suppress specific harmonics, with a 41.3% reduction in 5th harmonic content compared to the LADRC and a 49.4% reduction in 7th harmonic content compared to the PI. Comparative analysis of the three-phase currents after a sudden change in the rated load shows that compared to PI, the 5th harmonic content of the LADRC is reduced by 70.5%, the 7th harmonic content is reduced by 79.1%, and the 3rd harmonic content is reduced by 54.8%. Meanwhile, compared to LADRC, the 5th harmonic decreases by 44%, the 7th harmonic decreases by 13%, and the 3rd harmonic decreases by 88%.
刘栋良, 赵金洋, 董旭辉, 陈黎君, 王晓啸. 扩展卡尔曼观测器下的永磁同步电机负载扰动抑制研究[J]. 电工技术学报, 2025, 40(8): 2488-2503.
Liu Dongliang, Zhao Jinyang, Dong Xuhui, Chen Lijun, Wang Xiaoxiao. Research on Load Disturbance Suppression Technology of Permanent Magnet Synchronous Motor under Extended Kalman Filter. Transactions of China Electrotechnical Society, 2025, 40(8): 2488-2503.
[1] 王科雷, 周洲, 马悦文, 等. 垂直起降固定翼无人机技术发展及趋势分析[J]. 航空工程进展, 2022, 13(5): 1-13. Wang Kelei, Zhou Zhou, Ma Yuewen, et al.Development and trend analysis of vertical takeoff and landing fixed wing UAV[J]. Advances in Aeronautical Science and Engineering, 2022, 13(5): 1-13. [2] 陈鹏, 陈洋, 王威. 无人机声学定位技术综述[J]. 华南理工大学学报(自然科学版), 2022, 50(12): 109-123. Chen Peng, Chen Yang, Wang Wei.Review for UAV acoustic positioning[J]. Journal of South China University of Technology (Natural Science Edition), 2022, 50(12): 109-123. [3] Zheng Chunlei, Yan Yiping, Liu Yang.Prospects of eVTOL and modular flying cars in China urban settings[J]. Journal of Intelligent and Connected Vehicles, 2023, 6(4): 187-189. [4] Wu Pengcheng, Yang Xuxi, Wei Peng, et al.Safety assured online guidance with airborne separation for urban air mobility operations in uncertain envi-ronments[J]. IEEE Transactions on Intelligent Transportation Systems, 2022, 23(10): 19413-19427. [5] 张洪. eVTOL的性能特征、关键技术与发展瓶颈探究[J]. 空运商务, 2022(10): 55-60. Zhang Hong.Investigation of Performance Characte-ristics, key technologies, and development bottlenecks of eVTOLs[J]. Air Transport Business, 2022(10): 55-60. [6] 张兴, 郭磊磊, 杨淑英, 等. 永磁同步发电机无速度传感器控制[J]. 中国电机工程学报, 2014, 34(21): 3440-3447. Zhang Xing, Guo Leilei, Yang Shuying, et al.Speed sensorless control of permanent magnet synchronous generators[J]. Proceedings of the CSEE, 2014, 34(21): 3440-3447. [7] Ge Yang, Song Weizhang, Yang Yang, et al.A polar-coordinate-multisignal-flux-observer-based PMSM non-PLL sensorless control[J]. IEEE Transactions on Power Electronics, 2023, 38(9): 10579-10583. [8] Yan Hao, Wang Wenjie, Xu Yongxiang, et al.Position sensorless control for PMSM drives with single current sensor[J]. IEEE Transactions on Industrial Electronics, 2023, 70(1): 178-188. [9] Wu Lijian, Lü Zekai, Chen Zekai, et al.An enhanced sensorless control scheme for PMSM drives con-sidering self-inductance asymmetry[J]. CES Transa-ctions on Electrical Machines and Systems, 2022, 6(4): 384-392. [10] Bi Guangdong, Zhang Guoqiang, Wang Qiwei, et al.High-frequency injection angle self-adjustment based online position error suppression method for sensorless PMSM drives[J]. IEEE Transactions on Power Electronics, 2023, 38(2): 1412-1417. [11] Liu Zhaohua, Nie Jie, Wei Hualiang, et al.Switched PI control based MRAS for sensorless control of PMSM drives using fuzzy-logic-controller[J]. IEEE Open Journal of Power Electronics, 2053, 3: 368-381. [12] Chen Lijun, Liu Dongliang, Sun Liming, et al.Sensorless control of permanent magnet synchronous motor based on adaptive enhanced extended state observer[J]. International Journal of Circuit Theory and Applications, 2024, DOI: 10.1002/cta.3983. [13] Chen Lijun, Liu Dongliang, Zhu Minchen, et al.Non-cascaded sensorless control of SPMSM based on cascaded extended state observer[J]. IEEE Access, 2024, 12: 24488-24499. [14] 杨凯, 李孺涵, 罗成, 等. 负载变化下无传感器感应电机主动零频穿越及脉动抑制策略[J]. 电工技术学报, 2023, 38(18): 4910-4920. Yang Kai, Li Ruhan, Luo Cheng, et al.Proactive low-frequency ride-through method and its ripple reduction for sensorless induction motor drives under load variations[J]. Transactions of China Electro-technical Society, 2023, 38(18): 4910-4920. [15] Qian Linfang, Sun Le, Wang Kuan, et al.Fusion of position estimation techniques for a swing servo by a permanent-magnet synchronous machine[J]. IEEE Transactions on Industrial Electronics, 2023, 70(7): 6551-6562. [16] Bendjedia B, Chouireb S.Comparative study between sensorless vector control of PMSM drives based on MRAS, SMO and EKF observers[C]//2023 Inter-national Conference on Advances in Electronics, Control and Communication Systems (ICAECCS), BLIDA, Algeria, 2023: 1-6. [17] Wang Chongwu, He Yuyao, Li Hong.The study on the PMSM sensorless control using the sub-optimal fading extend Kalman filter[C]//2013 IEEE 10th International Conference on Power Electronics and Drive Systems (PEDS), Kitakyushu, Japan, 2013: 294-297. [18] Xin Zhuangzhuang, Wang Jiajun, Zhao Hongjiang.Rotor position estimation using harmonic-decomposition complex-coefficient filter-based PLL for PMSM with switch Hall-effect sensors[J]. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2024, 12(2): 2249-2259. [19] Tian Minghe, Wang Bo, Yu Yong, et al.Discrete-time repetitive control-based ADRC for current loop disturbances suppression of PMSM drives[J]. IEEE Transactions on Industrial Informatics, 2022, 18(5): 3138-3149. [20] 陈勇, 邱子桢, 马凯, 等. 基于Markov链随机脉宽调制的永磁同步电机高频边带谐波与声振响应抑制[J]. 电机与控制学报, 2023, 27(9): 109-118. Chen Yong, Qiu Zizhen, Ma Kai, et al.Investigation into Markov-chain random modulation for suppression high-frequency sideband vibro-acoustics in permanent magnet synchronous motor[J]. Electric Machines and Control, 2023, 27(9): 109-118. [21] 许家群, 王天琪, 贾普凡. 永磁同步电机准谐振自抗扰电流谐波抑制[J].中国电机工程学报, 2023, 43(6): 2450-2459. Xu Jiaqun, Wang Tianqi, Jia Pufan.Quasi-resonant anti-disturbance harmonic suppression of permanent magnet synchronous motors[J]. Proceedings of the Chinese Society for Electrical Engineering, 2023, 43(6): 2450-2459. [22] Xu Yongxiang, Zhang Wentao, Huang Yingliang, et al.Multisector three-phase PMSM drive system with low-frequency and high-frequency PWM noise[J]. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2022, 10(2): 1639-1648. [23] Zhang Zhifeng, Wu Yue, Su Hequn, et al.Research on open-circuit fault tolerant control of six-phase permanent magnet synchronous machine based on fifth harmonic current injection[J]. CES Transactions on Electrical Machines and Systems, 2022, 6(3): 306-314. [24] Lü Zekai, Wu Lijian.Current control scheme for LC-equipped PMSM drive considering decoupling and resonance suppression in synchronous complex-vector frame[J]. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2023, 11(2): 2061-2073. [25] 姜卫东, 胡业波, 张庆岩, 等. 基于调制波分解的Vienna整流器的调制方法[J]. 电工技术学报, 2023, 38(16): 4339-4352. Jiang Weidong, Hu Yebo, Zhang Qingyan, et al.Modulation method of Vienna rectifier based on modulation wave decomposition[J]. Transactions of China Electrotechnical Society, 2023, 38(16): 4339-4352. [26] 王泽尚, 孙立清, 王志福, 等. 基于扰动补偿的电机模拟器电流控制策略[J]. 电工技术学报, 2023 38(22): 5987-5998. 27 Wang Zeshang, Sun Liqing, Wang Zhifu, et al.Current control strategy of electric motor emulator based on disturbance compensation[J]. Transactions of China Electrotechnical Society, 2023, 38(22): 5987-5998. [27] Yang Yang, Song Weizhang, Ge Yang, et al.A Markov chain random asymmetrical SVPWM method to suppress high-frequency harmonics of output current in an IMC-PMSM system[J]. IEEE Transa-ctions on Power Electronics, 2024, 39(1): 135-148. [28] 董志强, 王琛琛, 周明磊, 等. 基于SHEPWM的三电平三相逆变器中点电位主动平衡控制策略[J]. 电工技术学报, 2024, 39(4): 1147-1158. Dong Zhiqiang, Wang Chenchen, Zhou Minglei, et al.Active neutral-point voltage balance control strategy for three-level three-phase inverter under SHEPWM[J]. Transactions of China Electrotechnical Society, 2024, 39(4): 1147-1158. [29] 樊启高, 卢禹卓, 毕恺韬, 等. 基于倍频采样的两相交错并联三电平双向直流变换器功率均衡解耦控制策略[J]. 电工技术学报, 2022, 37(14): 3654-3664. Fan Qigao, Lu Yuzhuo, Bi Kaitao, et al.Decoupled power-balancing control strategy for two-phase interleaved parallel bidirectional DC converter based on frequency-doubling sampling[J]. Transactions of China Electrotechnical Society, 2022, 37(14): 3654-3664.
2025, Vol. 40 
