一种基于增量式卡尔曼滤波器的PMSM转速滤波算法  

Filtering algorithm of speed for PMSM based on incremental Kalman filter

作　　者：肖曦[1] 王伟华[2] 吕志鹏[3] 

机构地区：[1]清华大学电机系电力系统国家重点实验室,北京100084 [2]北京控制工程研究所,北京100080 [3]中国电力科学研究院,北京100192

出　　处：《电机与控制学报》2014年第10期104-111,共8页Electric Machines and Control

基　　金：国家自然科学基金(51177084)

摘　　要：为了滤除永磁同步电机转子转速测量环节存在的量化误差等噪声,提出一种基于增量式卡尔曼滤波器的转子转速滤波算法。该算法通过两个相邻周期的离散运动方程相减的方式消除负载转矩项,根据卡尔曼滤波器原理,推导出基于增量式卡尔曼滤波器的永磁同步电机转子转速滤波算法,并与低通滤波器的滤波效果进行比较分析。研究表明,基于增量式卡尔曼滤波器的滤波算法可以在不带来延时的前提下有效滤除转速测量噪声,并且计算负荷显著减少,对电机参数依赖度低。仿真和实验结果验证了所提算法的有效性。Aiming at removing measurement noise caused by quantization errors of low-precision shaft encoder,an incremental Kalman filtering algorithm of rotor speed was proposed for permanent magnet synchronous motor.The item of load torque was eliminated by subtracting two adjacent discrete motion equations.According to the principle of Kalman filter,the incremental Kalman filtering algorithm of rotor speed for permanent magnet synchronous motor was derived,and compared with the effect of low pass filter.Research shows that the proposed filtering algorithm can effectively realize the aim of filtering out the measurement noise of rotor speed without bringing in additional delay,and then,improve the performance of the system.Besides,it offers the advantages of a little calculation burden required and low dependence on motor parameters.Simulation and experimental results verify the effectiveness of the proposed scheme.

关 键 词：卡尔曼滤波器 低通滤波器 测量噪声 永磁同步电机 伺服 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]