无位置传感器电机控制在火炮装填应用的关键技术研究  

Investigation of the Sensorless Motor Control Technology for Gun Autoloading

作　　者：钱林方[1,2] 孙乐 陈光宋 佟明昊[1] 邹权 QIAN Linfang;SUN Le;CHEN Guangsong;TONG Minghao;ZOU Quan(School of Mechnical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China;Northwest Institute of Mechanical and Electrical Engineering,Xianyang 712099,Shaanxi,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]西北机电工程研究所,陕西咸阳712099

出　　处：《兵工学报》2022年第10期2417-2428,共12页Acta Armamentarii

基　　金：国家自然科学基金青年基金项目(51907091)。

摘　　要：现代大口径火炮电动装填系统涉及多个电机协同控制,无位置传感器控制技术的应用可以显著提高驱动系统可靠性。而表贴式永磁同步电机在零/低速下的转子位置辨识恰是该技术的难点。针对该问题,提出采用基于机械运动模型的Kalman滤波器辅助转子位置估计方法;辅以观测器抗扰技术以消除模型参数不确定等扰动对转子位置辨识的影响,实现零/低速重载下可靠的起动/急停控制。新算法突破了常规的基于电气模型转子位置估计方法的局限性,进而大幅度提高了无位置传感器技术在零/低速下的负载能力,实现了可以媲美有位置传感器伺服的驱动控制功能。以该榴弹炮模块药装填和输弹过程作为算例,通过仿真验证了该技术。该无位置传感器电机控制技术已应用于155 mm榴弹炮装填系统。The modern automatic loading system for large caliber guns involves the collaborative control of multiple motors.The application of sensorless technology can significantly improve the reliability of driving systems.The rotor position identification of surface-mounted permanent-magnet synchronous motor at zero-/low-speeds is a difficult problem in sensorless control.To deal with it,an extended Kalman filter based on mechanical motion model is proposed to assist rotor position estimation.At the same time,the observer disturbance rejection technology is employed to eliminate the influence of disturbances such as model parameter uncertainty to rotor position identification,and to realize reliable start-stop control under zero/low speeds and heavy loads.The proposed method overcomes the limitation of the conventional rotor position estimation method based on the electrical model,greatly improves the load capacity of the sensorless technology at zero/low speeds,and realizes the performance comparable to that of the position sensor servo.This sensorless motor control technology is applied to the 155 mm gun loading system.Finally,the technology is verified by the operation simulation of the modular explosive loader and projectile loader as examples.

关 键 词：火炮 自动装填系统 无位置传感器控制 电机控制 KALMAN滤波 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]