Abstract：With the rising demand for motor output power and speed control performance in various industries, and the rapid development of permanent magnet materials, Permanent Magnet Synchronous Motor (PMSM) has been widely used in electrical vehicle drive systems, marine electric propulsion systems and aerospace power systems. All existing synchronous motor drive technologies must obtain real-time motor speed and rotor position angle information, usually using position sensors to obtain motor position information. In AC speed control systems, the speed and rotor position information used as closed-loop feedback are usually measured by position sensors such as encoders and rotary transformers, and the accuracy of the position information measurement determines the drive performance of the motor. However, due to the constraints of operating environment, installation space and cost, the position sensor may be inaccurate and easily damaged, so a sensorless control scheme is a more suitable choice. The estimation accuracy of rotor position is crucial in the sensorless control technology of PMSM. The rotor position estimation method based on the Sliding-Mode Observer (SMO) has been widely studied and applied because of its low sensitivity to parameters and high robustness. However, due to the introduction of modules such as filters and symbolic functions, the estimated phase retardation and high frequency jitter in SMO can cause inaccurate position observation. Therefore, to address the inaccuracy of the position signal caused by the estimated phase delay of SMO, this paper proposes a sensorless control strategy of the PMSM based on error compensation, aiming to realize the sensorless control technology in the full-speed range for PMSMs. Firstly, the mechanism of position observation error generation of SMO using phase locked loop was analyzed, and the position information estimation errors caused by different factors were discussed. A method of position compensation angle calculation and phase delay compensation based on SMO estimation error feedback was proposed to solve the cause of error, and a feedforward phase compensator was designed using a first order filter, which could directly phase shift the counter-electromotive force observed by SMO, so that the estimated speed and angle could be compensated at the same time. Secondly, based on the analysis of the effect of SMO response speed on the observation performance, an optimized critical saturation switching function was designed, outputting a sine wave with boundary layer fixed at 1, which kept the convergence speed of SMO basically constant and weakened the jitter, thus the performance of SMO was improved. Thirdly, a reference speed generator was designed to replace the reference speed from a step signal to a gradient-variable ramp signal for motor start-up and low-speed operation, which facilitated the control of the motor over the full speed range. Finally, the feasibility of the proposed method was verified experimentally by using the constructed PMSM pair-tow platform with model predictive current control as the modulation of the voltage vector. In the steady-state comparison experiments, the average rotor position angle estimation error of the proposed method was 0.07rad, which was 89.64% less than that of the conventional method of 0.73rad under the same operating conditions. In the variable speed experiment, the motor was adjusted from negative to positive rated speed under no load. In the variable load experiment, the maximum error of rotor position angle estimated by sudden unloading was 0.34rad, and the maximum error of rotor position angle estimated by sudden increasing load was 0.41rad. The experimental results showed that the proposed method could effectively compensate the rotor position error, and the operation of the motor has good steady-state and dynamic performance.
梅三冠, 卢闻州, 樊启高, 黄文涛, 项柏潭. 基于滑模观测器误差补偿的永磁同步电机无位置传感器控制策略[J]. 电工技术学报, 2023, 38(2): 398-408.
Mei Sanguan, Lu Wenzhou, Fan Qigao, Huang Wentao, Xiang Baitan. Sensorless Control Strategy of Permanent Magnet Synchronous Motor Based on Error Compensation Estimated by Sliding Mode Observer. Transactions of China Electrotechnical Society, 2023, 38(2): 398-408.
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2023, Vol. 38 
