基于改进Super-Twisting滑模观测器的永磁同步电机无传感器控制

王涛; 黄景春; 周行之; 金靖

doi:10.3969/j.issn.0258-2724.20220793

摘要:

在无传感器控制宽调速范围内，传统super-twisting二阶滑模观测器算法在永磁同步电机中存在转子位置估计误差随速度变化而发生抖动的问题. 为减小转子位置估计误差并提升电机调速控制性能，本文基于双曲函数提出一种改进的滑模观测器，并设计定子电阻的在线辨识方案，同时开发扰动电压观测器以在线估计逆变器非线性引起的失真电压；最后，通过电机硬件在环实验测试进行验证. 测试结果表明：位置估计误差减小7.6%，速度估计精度提高5.8%.

关键词:

Abstract:

In the wide speed range of sensorless control, the traditional super-twisting second-order sliding mode observer algorithm had a problem that the error of rotor position estimation would change with the speed in the permanent magnet synchronous motor (PMSM). In order to improve the control performance of the motor speed and reduce the error of rotor position estimation, an improved sliding mode observer based on hyperbolic function was proposed, and an online identification scheme of stator resistance was designed. A disturbance voltage observer was designed to estimate the distortion voltage caused by the nonlinearity of the inverter on line. Finally, the hardware-in-the-loop test was carried out to verify the feasibility of the scheme. The test results show that the error of position estimation can be reduced by 7.6%, and the accuracy of velocity estimation can be increased by 5.8%.

Key words:

permanent magnet synchronous motor /
sensorless control /
improved super-twisting algorithm /
online identification of stator resistance /
nonlinearity compensation of inverter

图 1 不同m值下的双曲函数

Figure 1. Hyperbolic functions under different values of m

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图 2 提出的具有定子电阻在线辨识的改进的super-twisting滑模观测器结构框

Figure 2. Structure of proposed improved super-twisting sliding mode observer with online identification of stator resistance

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图 3 提出的逆变器非线性补偿方法结构框图

Figure 3. Structure of proposed inverter nonlinearity compensation method

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图 4 PMSM无传感器控制系统框图

Figure 4. Sensorless control system of PMSM

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图 5 硬件在环测试系统框图

Figure 5. Hardware-in-the-loop test system

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图 6 采用常值滑模系数的传统super-twisting滑模观测器测试结果

Figure 6. Test results of traditional super-twisting sliding mode observer using constant sliding mode coefficients

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图 7 基于改进super-twisting滑模观测器的实验测试结果

Figure 7. Test results of improved super-twisting sliding mode observer

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图 8 不具有定子电阻在线辨识的基于改进super-twisting滑模观测器的实验测试结果

Figure 8. Test results of improved super-twisting sliding mode observer without online identification of stator resistance

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图 9 具有定子电阻在线辨识的基于改进super-twisting滑模观测器的实验测试结果

Figure 9. Test results of improved super-twisting sliding mode observer with online identification of stator resistance

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图 10 传统super-twisting滑模观测器测试结果

Figure 10. Test results of traditional super-twisting sliding mode observer

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图 11 逆变器非线性补偿策略的改进super-twisting滑模观测器测试结果

Figure 11. Test results of improved super-twisting sliding mode observer based on inverter nonlinearity compensation strategy

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表 1 PMSM相关参数

Table 1. Related parameters of PMSM

参数	值	参数	值
定子电阻/Ω	2.875	额定转矩/（N•m）	5
定子电感/H	0.008	额定电流/A	4.6
极对数/对	4	开通延迟/μs	0.6～1.8
永磁磁链/Wb	0.175	关断延迟/μs	1.8～3.0
m	0.01	死区时间/μs	3.0
额定速度/（r·min⁻¹）	1500	二极管正向压降/V	2.0～3.2
直流母线电压/V	310	饱和压降/V	1.9～2.8

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