基于超螺旋滑模观测器的六相PMSM转速估计  

Speed estimation of six-phase PMSM based on a super-twisting sliding mode observer

作　　者：白月建 刘剑[1] BAI Yuejian;LIU Jian(School of Electrical and Electronic Engineering,Shandong University of Technology,Zibo 255000,China)

机构地区：[1]山东理工大学电气与电子工程学院,山东淄博255000

出　　处：《兵器装备工程学报》2023年第2期160-166,共7页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(51707110)。

摘　　要：针对军用轮毂六相PMSM无位置传感控制系统中采用传统滑模观测器导致的系统高频抖振问题,以及估计坐标系相位滞后对转速估计造成的稳态误差问题,提出了一种基于超螺旋滑模观测器的转速估计算法;在旋转坐标系下采用超螺旋算法对系统中的高频抖振进行抑制,并对反电动势进行观测,构造李雅普诺夫函数对电流动态误差方程进行稳定性分析,考虑估计旋转坐标系相位滞后对转速估计误差的影响,根据超螺旋滑模控制算法结构特点,提出一种考虑d轴估计反电动势的转速估计算法;通过仿真和实验验证了基于超螺旋滑模观测器的转速估计算法具有更高的估计精度;其能够抑制系统中的高频抖振,降低了估计坐标系相位滞后对转速估计误差的影响,省略了低通滤波器和相位补偿模块,提高了转速估计的准确度。Aiming at a high frequency buffering caused by the traditional sliding mode observer in the six-phase PMSM positionless sensor control system of a military wheel hub, and steady-state error caused by phase lag of the estimation coordinate system on the estimated speed, this paper proposes a speed estimation algorithm based on a super-twisting sliding mode observer. In the rotating coordinate system, the high frequency buffering is suppressed by the super-twisting algorithm, and the counter electromotive force is observed. A Lyapunov function is constructed to analyze the stability of the current dynamic error equation, and the influence of the estimated phase lag of the rotating coordinate system on the speed estimation error is considered. According to the structural characteristics of the super-twisting sliding mode control algorithm, a speed estimation algorithm considering d axis estimation of counter electromotive force is proposed. Simulation and experiments show that the speed estimation algorithm based on a super-twisting sliding mode observer has higher estimation accuracy. It can suppress high frequency chattering in the system, reduce the influence of the phase lag in the estimation coordinate system on the speed estimation error, omit the low-pass filter and the phase compensation module, and improve the accuracy of speed estimation.

关 键 词：六相永磁同步电机 超螺旋滑模观测器 李雅普诺夫稳定性 旋转坐标系 无位置传感控制系统 

分 类 号：TM341[电气工程—电机]