电工技术学报  2023, Vol. 38 Issue (2): 398-408    DOI: 10.19595/j.cnki.1000-6753.tces.211876
电机及其系统 |
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
梅三冠, 卢闻州, 樊启高, 黄文涛, 项柏潭
江南大学物联网工程学院 无锡 214122
Sensorless Control Strategy of Permanent Magnet Synchronous Motor Based on Error Compensation Estimated by Sliding Mode Observer
Mei Sanguan, Lu Wenzhou, Fan Qigao, Huang Wentao, Xiang Baitan
School of IOT Engineering Jiangnan University Wuxi 214122 China
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摘要 转子位置精度对于永磁同步电机无位置传感器控制至关重要。基于滑模观测器的转子位置估计方法因对参数敏感性低、鲁棒性强的优势得到了广泛的研究和应用。针对滑模观测器估计相位延迟导致的位置信号不准确问题,提出一种基于误差补偿的永磁同步电机无位置传感器控制策略。首先,详细分析了滑模观测器的位置误差产生机理,利用一阶滤波器设计了相位延迟补偿方法,以提高位置估计精度;然后,通过临界饱和切换函数改进滑模观测器收敛性能;最后,通过实验验证了所提方法的可行性。实验结果表明,所提方法的位置估计误差较传统方法减少了89.64%。
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梅三冠
卢闻州
樊启高
黄文涛
项柏潭
关键词 永磁同步电机无位置传感器控制滑模观测器位置估计误差补偿    
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.
Key wordsPermanent magnet synchronous motor    sensorless control    sliding mode observer    compensation of position estimated error   
收稿日期: 2021-11-17     
PACS: TM351  
基金资助:江苏省“六大人才高峰”高层次人才项目(GDZB-138)和江苏省自然科学基金项目(BK20210475)资助
通讯作者: 樊启高 男,1986年生,博士,副教授,研究方向为高速电机控制技术、智能传感及机电一体化技术。E-mail: qgfan@jiangnan.edu.cn   
作者简介: 梅三冠 男,1996年生,硕士研究生,研究方向为永磁同步电机无位置传感器控制。E-mail: a16578123@gmail.com
引用本文:   
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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