PMSM转速和转子位置的滚动时域估计器设计  

Design of Moving Horizon Estimator for PMSM Speed and Rotor Position

作　　者：卓陈祥[1] 杜锦才[2] ZHUO Chenxiang;DU Jincai(School of IoT Technology,Wuxi Vocational College of Science and Technology,Wuxi 214028,Jiangsu,China;College of Energy Engineering,Zhejiang University,Hangzhou 310027,Zhejiang,China)

机构地区：[1]无锡科技职业学院物联网技术学院,江苏无锡214028 [2]浙江大学能源工程学院,浙江杭州310027

出　　处：《电气传动》2022年第3期10-16,共7页Electric Drive

基　　金：浙江省科技计划项目(2020C35016)。

摘　　要：围绕永磁同步电机(PMSM)驱动控制系统的无位置传感器实现,设计了一种基于系统模型的PMSM滚动时域估计器(MHE),以实现PMSM转速和转子位置估计。MHE算法可视为适当假设下一种含等式约束的二次规划类最优问题迭代求解。针对不同的时域尺度,评估了MHE的稳态和暂态性能,并探明了估计误差、计算负担和时域尺度之间的关系。此外,将MHE与完全不同的电流控制器配合使用来实现PMSM转速和转子位置估计,以突出验证MHE的适应性。开展了MHE与扩展卡尔曼滤波器(EKF)的对比测试,实验结果证明了所提出MHE方案在低速下估计精度方面具有优势,以及MHE在10 kHz采样率下是实时可行的。Around the rotor position sensorless realization of the permanent magnet synchronous motor(PMSM)drive control system,a systematic model-based PMSM moving horizon estimator(MHE)was designed to realize PMSM speed and rotor position estimation. The MHE algorithm can be regarded as an iterative solution to the optimal problem of quadratic programming with equality constraints under mild assumptions. For different horizon lengths,the steady-state and transient performance of MHE were evaluated,and the relationship among estimation error,computational burden and horizon lengths was explored. In addition,in order to verify the adaptability of MHE,MHE was combined with different current controllers to realize PMSM speed and rotor position estimation. Comparative tests between MHE and extended Kalman filter(EKF)were carried out,and the advantages of the proposed MHE scheme in terms of speed estimation accuracy at low speed were proved by the experimental results,and the real-time feasibility of the MHE with 10 kHz sampling rate was also verified.

关 键 词：永磁同步电机 转速估计 滚动时域估计器 

分 类 号：TM921[电气工程—电力电子与电力传动]