基于新型串联内模扩张状态观测器的PMSM齿槽转矩补偿控制方法  

Compensation and Rejection of Cogging Torque of PMSM Based on Novel Internal Model Observer in Series With Extended State Observer

作　　者：付兴贺[1] 顾胜东 何航 付春雨[2] 董婷 王炤恒 FU Xinghe;GU Shengdong;HE Hang;FU Chunyu;DONG Ting;WANG Zhaoheng(School of Electrical Engineering,Southeast University,Nanjing 210096,Jiangsu Province,China;Beijing Research Institute of Precise Mechatronics and Controls,Fengtai District,Beijing 100076,China;Key Laboratory of Special Machine and High Voltage Apparatus(Shenyang University of Technology),Ministry of Education,Shenyang 110870,Liaoning Province,China)

机构地区：[1]东南大学电气工程学院,江苏省南京市210096 [2]北京精密机电控制设备研究所,北京市丰台区100076 [3]特种电机与高压电器教育部重点实验室(沈阳工业大学),辽宁省沈阳市110870

出　　处：《中国电机工程学报》2022年第23期8729-8739,共11页Proceedings of the CSEE

基　　金：江苏省自然科学基金项目(BK20201275);航天一院高校联合创新基金(CALT202005);特种电机与高压电器教育部重点实验室开放课题(KFKT202001)。

摘　　要：为了降低齿槽转矩对永磁同步电机伺服系统控制性能的影响,提出一种串联内模扩张状态观测器,以实现更准确的齿槽转矩观测和扰动补偿控制。通过齿槽转矩建模和观测器幅频特性分析,指出常规观测器存在周期性扰动观测性能差、低频扰动放大、系统阶次过高以及带宽要求严格等问题。针对所提出的观测器串联式结构,开展理论推导、仿真计算、实验验证以及对比分析工作,证明了扩张状态观测器估计低频扰动、内模观测器估计齿槽转矩的串联形式具有更好的扰动观测效果。将所提观测器应用于永磁同步电机伺服控制系统,系统转速波动和跟踪误差降低了约40%,观测器带宽要求降低了约60%。同时,系统算法的稳定性和抗低频扰动的能力得到了增强。In order to reduce the influence of cogging torque on the control performance of permanent magnet synchronous motor(PMSM)servo system,an internal model observer in series with extended state observer was proposed to achieve better cogging torque observation and disturbance compensation control.By modeling the cogging torque and analyzing the amplitude-frequency characteristics of the observers,it is pointed out that the conventional observers have problems such as poor periodic disturbance observation,low-frequency disturbance amplification,high system order and strict bandwidth requirements.Theoretical derivation,simulation calculation,experimental verification and comparative analysis were carried out for the proposed observer,and it can be proved that the series form of the extended state observer for estimating the low-frequency disturbance and the internal model observer for estimating the cogging torque is excellent at disturbance observation.The proposed observer was applied to the PMSM servo system.Therefore,the speed fluctuation and tracking error can be reduced by about 40%,and the bandwidth of the observer can be reduced by about 60%.Meanwhile,the stability of the algorithm and the ability of rejecting low-frequency disturbances can be enhanced.

关 键 词：永磁同步电机 齿槽转矩 内模观测器 扩张状态观测器 带宽 

分 类 号：TM351[电气工程—电机]