基于共振扩张状态观测器的内置式永磁同步电机统一全速域无位置传感器控制

doi:10.19595/j.cnki.1000-6753.tces.230597

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Abstract Conventional sensorless control of permanent magnet synchronous motors in the full speed domain achieves rotor position estimation by combining the two position estimation methods. However, in wide frequency domain speed regulation, the two position estimation methods switch frequently, which can easily cause oscillations in the estimated position and speed. Moreover, the two position estimation methods require separate design and tuning, increasing the difficulty of system tuning and algorithm complexity. For this reason, this paper proposes a unified full-speed sensorless control method of interior permanent magnet synchronous motor based on resonance extended state observer.
First, the fundamental frequency back electromotive force and high-frequency back electromotive force are estimated by the resonant extended state observer. This observer adds a high-frequency disturbance estimation loop based on the traditional extended state observer. Accordingly, the high-frequency back electromotive force in the low-speed zone generated by injecting high-frequency voltage is estimated, and the fundamental frequency back electromotive force is estimated by the original disturbance estimation loop of the extended state observer. The original disturbance estimation loop of the extended state observer has the characteristics of a notch filter at the frequency of injected high-frequency voltage. In addition, it can suppress the high-frequency measurement noise, which can accurately estimate the fundamental frequency back electromotive force. The high-frequency disturbance estimation loop of the resonant extended state observer has band-pass filter characteristics with no amplitude attenuation and phase lag at the frequency of the injected high-frequency voltage, allowing it to accurately estimate the high-frequency back electromotive force.
Then, a unified model in the full-speed domain is established, and the rotor position and speed estimation are realized through the unified model. At zero speed and low speed, the signal-to-noise ratio of the fundamental frequency back electromotive force is low, so it cannot accurately estimate the fundamental frequency back electromotive force. By injecting high-frequency voltage into the d-axis, the signal-to-noise ratio of the high-frequency back electromotive force is increased. However, the high-frequency back electromotive force is modulated by the injected high-frequency signal, which cannot be directly used to estimate the rotor position. A unified full-speed domain model is constructed to achieve a high signal-to-noise ratio of rotor position information in the full-speed domain. The amplitude of the unified full-speed domain model is the sum of the square of the fundamental frequency back electromotive force amplitude and the square of the high-frequency back electromotive force amplitude. The output of the unified full-speed domain model is used as the input of the phase-locked loop, and the output of the phase-locked loop is the estimated rotor position and speed.
Finally, the correctness and effectiveness of the proposed method are verified on the 2.0 kW interior permanent magnet synchronous motor experimental platform. Compared with the traditional sensorless control method, the proposed method has the following advantages: (1) The full-speed domain uses the same estimator without a transition zone, simplifying the control algorithm, reducing tuning difficulty, and avoiding speed and position oscillations caused by frequent switching of the two observers. (2) Estimation errors caused by filters and delays in traditional high-frequency injection methods are eliminated.

Key words： Permanent magnet synchronous motor sensorless control resonance extended state observer unified full speed domain model

Received: 01 May 2023

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TM351

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