基于UKF的永磁直线电机进给系统位置与速度估计  

Position and Speed Estimation of Permanent Magnet Linear Synchronous Motor Based on UKF

作　　者：余佩琼[1] 陈子辰[1] 

机构地区：[1]浙江大学现代制造工程研究所

出　　处：《电工技术学报》2007年第9期56-61,共6页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(50475101);浙江省自然科学基金(Y104193)资助项目。

摘　　要：Unscented卡尔曼滤波器(UKF)在许多非线性估计及控制问题中取得了成功的应用。针对永磁直线同步电机(PMLSM)进给系统的特点,将UKF引入PMLSM的位置与速度估计中,建立了基于UKF的无位置传感器PMLSM进给系统。通过迭代搜索分析滤波器参数对UKF估计性能的影响,并对噪声方差阵参数进行了优化。分别对PMLSM有位置传感器进给系统和无位置传感器进给系统进行了仿真研究。仿真结果表明,UKF具有较高的估计性能,基于UKF的的无位置传感器PMLSM闭环控制系统在宽的速度范围内具有较好的速度响应特性,对初始位置误差具有较快的收敛特性。最后通过实验验证了UKF算法在PMLSM的状态估计中的有效性。　Uuscented Kalman filter （UKF） has been successfully applied in many nonlinear estimation and control problems. For the position sensorless control of permanent magnet linear synchronous motor （PMLSM） direct drive system,UKF is applied in the position and speed estimation of PMLSM. An UKF-based position and speed estimator is applied in PMLSM drive system. The position sensorless PMLSM drive system using UKF is presented. To obtain the best estimated values of the states,the UKF has to be tuned by iterative searching for covariance matrices which yield the best estimates. Both the PMLSM drive system with position sensor and the PMLSM drive system without position sensor are studied by simulations. The simulation results show,the UKF-based position and speed estimator has good dynamic and steady state estimation performance,the UKF-based PMLSM drive system without position sensor has good speed response performance over a wide speed range,even for large initial position errors. The experiments show that UKF-based estimator is feasible and efficient for estimating position and speed of PMLSM.

关 键 词：UNSCENTED卡尔曼滤波 非线性估计 永磁直线同步电机 无位置传感器 

分 类 号：TP271.4[自动化与计算机技术—检测技术与自动化装置] TM359.4[自动化与计算机技术—控制科学与工程]