基于改进的离散域二阶滑模观测器的内置式永磁同步电机无位置传感器控制  

Sensorless Control of IPMSM Based on Improved Discrete Second-Order Sliding Mode Observer

作　　者：王琛琛[1] 苟立峰 周明磊[1] 游小杰[1] 董士帆 Wang Chenchen;Gou Lifeng;Zhou Minglei;You Xiaojie;Dong Shifan(School of Electrical Engineering Beijing Jiaotong University,Beijing 100044 China;Institute of Science and Technology of China Three Gorges Corporation,Beijing 100038 China)

机构地区：[1]北京交通大学电气工程学院,北京100044 [2]中国长江三峡集团有限公司科学技术研究院,北京100038

出　　处：《电工技术学报》2023年第2期387-397,共11页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(51977006)。

摘　　要：滑模观测器由于对系统不确定性具有良好的鲁棒性,逐渐应用于永磁同步电机无位置传感器控制中,但是在实际应用中滑模观测器的抖振现象会严重影响系统控制性能。该文提出一种用于内置式永磁同步电机无位置传感器控制的改进的二阶滑模观测器,采用基于Super-twisting算法的二阶滑模观测器,不同于常规的通过滑模观测器估算得到反电动势分量的方法,该方法基于内模控制原理引入二阶广义积分器,通过滑模观测器估算得到反电动势误差分量,再经过二阶广义积分器得到估算的反电动势分量,能够在保证估算准确性的同时很好地抑制系统抖振。同时,为了消除数字实现过程中的离散化误差和估算反电动势分量的耦合项,提高估算的准确性,重新构建了基于扩展反电动势的离散域数学模型,并基于该模型设计了改进的离散域Super-twisting滑模观测器。最终将估算得到的扩展反电动势分量用于估算转子位置和转速。通过实验对该文提出方法的有效性进行了验证。The model-based methods for the sensorless control of interior permanent magnet synchronous motor(IPMSM)are used for medium-and high-speed regions and can achieve satisfactory performance above 10%of the rated speed.Among the model-based methods,the sliding mode observer(SMO)has received increasing attention due to its great robustness to system uncertainty.However,the chattering phenomenon of the conventional first-order SMO seriously affect the performance of system control.A super-twisting algorithm based second-order sliding-mode observer(STA-SMO)has been proposed to alleviate chattering.However,the ideal control performance of STA-SMO cannot be achieved since the control frequency is limited in practice,and the STA-SMO exists the compromise between alleviating chattering and the estimation accuracy under the limited control frequency.To address the issue,an improved STA-SMO with a second order general integrator(SOGI)for sensorless control of an IPMSM is proposed in this paper.Furthermore,a discrete-time model of IPMSM based on the extended electromotive force(EEMF)is proposed to remove the cross-coupling effect for the EEMF estimation and improve the estimation accuracy.In practice,the sensorless control is implemented by a digital controller,so the designed STA-SMO in the continue-time domain must be discretized.In the process of continue-time model discretization,there will be discretization errors and the cross-coupling effect on the estimated EEMF,which will affect the estimation accuracy of the EEMF finally.In this paper,based on the latched model of the stator voltage in the stationary frame and the latched model of the EEMF in the rotating frame,a discrete-time EEMF model is constructed by using a method for developing cross-coupled discrete-time model.Since the estimation accuracy of the rotor position and speed depends on the estimation accuracy of the EEMF,an improved STA-SMO is proposed to estimate the EEMF accurately.Based on the internal model principle,a SOGI is introduced as the internal mode

关 键 词：内置式永磁同步电机 无位置传感器控制 离散域模型 Super-twisting 滑模观测器 二阶广义积分器 

分 类 号：TM315[电气工程—电机]