基于扩张状态观测器的永磁同步电机自适应鲁棒控制  

Adaptive Robust Control for Permanent Magnet Synchronous Motor Based on Extended State Observer

作　　者：孙洪博 张晓宇 柳向斌[2] SUN Hongbo;ZHANG Xiaoyu;LIU Xiangbin(School of Electrical and Information Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]北京建筑大学电气与信息工程学院,北京100044 [2]北京交通大学电子信息工程学院,北京100044

出　　处：《控制工程》2024年第1期112-120,共9页Control Engineering of China

基　　金：中央高校基本科研业务费专项资金资助项目(2022JBZY001);北京建筑大学研究生创新项目(PG2023089)。

摘　　要：永磁同步电机无传感器控制具有简化机械结构、降低成本和延长使用寿命等优点,然而其跟踪性能受不可测系统状态和干扰的观测精度影响。为了提高其跟踪精度,提出了一种结合转子位置、转速和干扰观测器的自适应鲁棒控制方法。首先,通过滑模观测器获得反电动势估计;然后,引入自适应律对参数化不确定性进行在线估计,形成以转子位置误差为输入的扩张状态观测器,提高了观测精度;最后,基于不确定性项估计和干扰观测值,设计转速跟踪误差的积分滑模面和相应的自适应滑模控制器,保证了电机系统的控制性能。仿真和实验结果验证了所提方法的有效性。Sensorless control of permanent magnet synchronous motor has the advantages of simplifying the mechanical structure,reducing the cost and extending the service life,etc.However,its tracking performance is affected by unmeasurable states and the observation precision of inference.To improve the tracking precision,an adaptive robust control method combining observers of rotor position,speed and disturbance is proposed.Firstly,the back electromotive force(EMF)is estimated by the sliding mode observer.Then,the adaptive law is introduced to estimate parametric uncertainty online,so that an extended state observer with rotor position error as input is constructed,and the observation accuracy is improved.Finally,based on the estimation of uncertainty term and the observation of interference,the integral sliding mode manifold of speed tracking error and the corresponding adaptive sliding mode controller are designed to ensure the control performance of the motor system.The simulation and experimental results verify the effectiveness of the proposed method.

关 键 词：永磁同步电机 无传感器控制 自适应估计 扩张状态观测器 鲁棒控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]