商用电子衡器传动电机控制策略研究  

Research on Control Strategy of Commercial Electronic Weighing Instrument Transmission Motor

作　　者：谢尧[1,2] 张广杰 庄曙东 成先明[2] 田成东 XIE Yao;ZHANG Guangjie;ZHUANG Shudong;CHENG Xianming;TIAN Chengdong(Changzhou Technician College,Changzhou Jiangsu 213000,China;School of Mechanical and Electrical Engineering of Hohai University,Changzhou Jiangsu 213000,China)

机构地区：[1]江苏省常州技师学院,常州213000 [2]河海大学机电工程学院,常州213000

出　　处：《微电机》2023年第12期36-43,共8页Micromotors

基　　金：江苏省高校实验室研究会立项资助研究课题(GS2019YB18);中央高校基本科研业务费专项资金资助(B230205013);江苏省精密与微细制造技术重点实验室数学建模课题组(CZ520007812)。

摘　　要：针对商用电子衡器传动电机长时间工作易失步问题,采用高性能永磁同步电机(PMSM)作为传动电机。为提高PMSM无感控制响应速度、稳定性、控制精度等动态性能,提出一种基于改进滑模控制器(ISMC)的迭代扩展卡尔曼滤波(IEKF)速度、角度估计策略。针对滑模面函数和趋近律进行优化,改善了传统滑模算法存在的稳定性差及达到稳态转速时间长等问题。具体而言,本策略分析不同滑模面函数优缺点设计出新型滑模面函数;同时,设计新型趋近律函数,并引入变量相调整滑模面函数的变化率,以保证系统可控,相较于传统滑模算法,本策略能够更快速地使得系统稳定,并且无需考虑运动学模型中的摩擦力和不确定性因素,具有广阔的实际应用前景。并且针对扩展卡尔曼滤波器处理较强非线性信号预测精度差的问题,考虑局限性和噪声等因素,提出采用迭代算法对状态向量以及协方差矩阵进行优化以提升其预测准确性。仿真和实验结果表明,所提新方法缩短了电机到达稳态转速的时间、提高了转速预测精度以及电机运行的稳定性。High-performance permanent magnet synchronous motor(PMSM)is used as the transmission motor was proposed for the problem that commercial electronic weighing instrument drive motors are easy to lose step when working for a long time.To improve the dynamic performance of permanent magnet synchronous motor(PMSM)sensorless control,such as response speed,stability and control accuracy,iterative extended Kalman filter(IEKF)speed and angle estimation strategy based on improved sliding mode control(ISMC)was proposed.The sliding surface function and reaching law were optimized,which improved the problems of poor stability and long time to reach steady-state speed of traditional sliding mode algorithm.Specifically,this strategy analyzed the advantages and disadvantages of different sliding surface functions to design a new sliding surface function;at the same time,a new reaching law function was designed,and the variable phase was introduced to adjust the change rate of the sliding mode surface function to ensure that the system was controllable.Compared with the traditional sliding mode algorithm,this strategy can make the system stable more quickly,and does not need to consider the friction and uncertainty factors in the kinematics model,which has broad practical application prospects.Aiming at the problem of poor prediction accuracy of extended Kalman filter in dealing with strong nonlinear signals,considering the limitations and noise,an iterative algorithm was proposed to optimize the state vector and covariance matrix to improve its prediction accuracy.The simulation and experimental results show that the proposed method shortens the time for the motor to reach the steady-state speed,improves the speed prediction accuracy and the stability of the motor operation.

关 键 词：永磁同步电机 扩展卡尔曼滤波器 无感控制 滑模控制 

分 类 号：TM351[电气工程—电机] TM341[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]