基于变增益最速梯度下降法的表贴式永磁同步电机滑模观测估算位置修正策略

doi:10.19595/j.cnki.1000-6753.tces.221934

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摘要滑模观测器具有响应速度快、鲁棒性强等优点,已广泛应用于表贴式永磁同步电机无位置传感器的中、高速控制。然而,具有固定参数的滑模观测器很难在宽速度范围内保持一致的估算精度,而采用基于速度观测器带宽限制的方法进行噪声和扰动抑制会降低电机动态性能。针对上述问题,本文首先分析滑模观测器估算表贴式永磁同步电机转子位置的误差产生机理,提出一种新型位置误差观测器,主要思想是基于磁链观测进行位置误差连续估算,并采用最速梯度下降法对积分过程进行反馈校正。在此基础上,通过变增益循环迭代优化提高位置误差观测器的速度与准确性。最后搭建表贴式永磁同步电机加载测试平台进行实验,结果验证了所提方法具有位置观测精度高、鲁棒性强的特点。

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关键词 ：表贴式永磁同步电机, 变增益最速梯度下降法, 滑模观测器, 估算位置修正策略

Abstract：Due to its high robustness and simplicity, sliding mode observer (SMO) has been widely used in sensorless control of surface mounted permanent magnet synchronous motor (SPMSM) at medium and high speeds. However, various non-ideal factors in actual control systems will lead to calculation errors and control delays, which will seriously affect the position estimation accuracy of SMO. To solve the above problem, this paper first analyzes the mechanism of position estimation error, and establishes the mathematical model in the error coordinate; Then, the steepest gradient descent position error observer based on nonlinear flux observer is proposed, and the variable gain cyclic iteration method is proposed to improve the speed and accuracy of the estimated position correction process. Finally, the accuracy and robustness of the proposed algorithm are verified through an SPMSM experimental platform.
Firstly, the SMO principle and the rotor position estimation error mechanism in SPMSM sensorless control system are analyzed. Secondly, the mathematical model including the estimated position error is established at the observation error coordinate system（γ-δ frame）. Thirdly, a rotor position error observer based on the steepest gradient descent method and nonlinear flux observer at the γ-δ frame is proposed, and the observer’s stability is proved. Finally, variable gain and one cycle iterative algorithm are proposed to improve the speed of the position correction process. Because the proposed observer only needs the rotor angle and speed information calculated by the SMO, it has no coupling with the current control loop and can be configured and adjusted more conveniently.
Experimental results on the 750 W SPMSM experimental platform show that, when the load torque is kept at 0.5 N∙m and the speed is adjusted from 800 rad/s to 3 000 rad/s, the maximum rotor position error is 2° and the average error is 0°. At 3 000 rad/s, when the load torque increases from 0.5N∙m to 2.4 N∙m (rated torque), the maximum rotor position error is 3°; after the speed is stable, the average error is 0° and the maximum error is 2°. When the estimated angle of the rotor suddenly changes ± 10 °, the position error corrected by the observer is reduced to within 1° within 4ms. During the parameter sensitivity bench test, the resistance changes by ± 50%, and the position error deviate from the center point by ±1.5°. The inductance changes by ±50%, and the position error deviates from the center point by ±2.5°. Then the theoretical analysis of parameter sensitivity is carried out. The analysis results show that the maximum position error of 5.13° occurs at the lowest speed and maximum current when the resistance changes, and the maximum position error of 3.77° occurs at the maximum current when the inductance changes.
The following conclusions can be drawn from the experimental results and theoretical analysis: (1) The proposed algorithm can be configured and adjusted conveniently, due to the decoupling of SMO and the current control loop. (2) The proposed algorithm can effectively track the position error when changing speed and load. In case of a sudden change of angle, it can realize rapid observation of angle error. (3) The proposed algorithm has good robustness when the resistance and inductance parameters change.

Key words： Surface mounted permanent magnet synchronous motor（SPMSM） variable gain steepest gradient descent method sliding mode observer（SMO） estimated position correction algorithm

收稿日期: 2022-10-09

PACS:

TM341

基金资助:国防科技工业核动力技术创新中心（HDLCXZX-2021-ZH-016）和核反应堆系统设计技术重点实验室运行基金（HT-KFKT-24-2021016）资助项目

通讯作者: 罗凌雁女,1984年生,工程师,研究方向为特种电机设计与控制、电动汽车电驱动系统、混合动力的控制与仿真。E-mail：luoly@cqu.edu.cn

作者简介: 王益明男,1985年生,博士研究生,研究方向为同步电机的驱动和控制技术。E-mail：20141103096@cqu.edu.cn

引用本文:

王益明, 张雪锋, 高龙将, 徐奇伟, 罗凌雁. 基于变增益最速梯度下降法的表贴式永磁同步电机滑模观测估算位置修正策略[J]. 电工技术学报, 0, (): 106-106. Wang Yiming, Zhang Xuefeng, Gao Longjiang, Xu Qiwei, Luo Lingyan. Estimated Position Correction Algorithm for Sliding Mode Observer of Surface Mounted Permanent Magnet Synchronous Motor Based on Variable Gain Steepest Gradient Descent Method. Transactions of China Electrotechnical Society, 0, (): 106-106.

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