PMSM正切趋近律无位置传感器角度补偿方法研究  

Angle compensation method using tangent reaching law for PMSM sensorless control system

作　　者：徐奇伟[1] 蒋东昊 王益明 张雪锋 刘津成 陈杨明 XU Qiwei;JIANG Donghao;WANG Yiming;ZHANG Xuefeng;LIU Jincheng;CHEN Yangming(State Key Laboratory of Power Transmission Equipment Technology,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学输变电装备技术全国重点实验室,重庆400044

出　　处：《电机与控制学报》2024年第1期26-34,共9页Electric Machines and Control

基　　金：重庆市自然科学基金(CSTB2022NSCQ-MSX0430);国防科技工业核动力技术创新中心(HDLCXZX-2021-ZH-016)。

摘　　要：在负载转矩突变的动态过程中,基于PI调节器的角度补偿方法作用时PMSM超螺旋滑模观测器(STSMO)转子电角度估算误差波动剧烈,因此依据角度估算误差的定义,建立了转子电角度补偿算法的数学模型。根据滑模控制和趋近律理论,提出了基于正切趋近律的变步长闭环角度补偿方法,选择角度估算误差的半角正切值作为角度调节步长,并通过前馈解耦得到的角度估算误差正余弦信号计算该步长,实现了对无位置传感器控制系统动态性能和抗扰动能力的改善。根据归一化灵敏度的定义,分析调节步长随角度估算误差变化的灵敏度,提出了基于归一化补偿灵敏度的系统动态性能分析方法,衡量两种补偿算法作用下系统的动态性能。计算和仿真结果表明,正切趋近律补偿方法具有更高的归一化补偿灵敏度,在负载转矩突变等角度估算误差变化剧烈的工况下能够实现更好的补偿效果,抑制估算角度误差的波动。实验结果表明,相比传统的PI补偿方法,正切趋近律补偿方法能够将突加额定转矩动态过程中角度估算误差的波动幅度降低61.9%,动态过程持续时间缩短23%,有效提升了系统的动态性能和抗扰动能力。To solve the problem that in dynamic process of sudden change of PMSM load torque,the fluctuation of super-twisting sliding-mode observer(STSMO)rotor electric angle estimation error is intense even under the regulation of angle compensation method based on PI regulator,the mathematical model of PMSM rotor electric angle compensation method was established according to the definition of angle estimation error,and the variable-step close-loop angle compensation method using tangent reaching law was proposed from the perspective of sliding-mode control and reaching law theory.The tangent value of half angle estimation error was chosen as angle regulating step of compensation method and was calculated by sine and cosine signal of angle estimation error obtained by feedforward decoupling algorithm,which can improve the dynamic performance as well as ability against disturbance of PMSM sensorless control system.According to the definition of normalized sensitivity,the method of system dynamic performance analysis based on normalized compensation sensitivity was proposed by analyzing the sensitivity of regulating step to the variation of angle estimation error,which can compare the dynamic performance of the system under the regulation of 2 different compensation methods.Calculation and simulation results show that the normalized compensation sensitivity of tangent method is higher than that of PI method.This means that the tangent method can achieve better compensation accuracy and suppress the fluctuation of angle estimation error when angle estimation error changes dramatically.Finally,relevant experiments have been conducted,whose results show that for experimental PMSM,tangent method can reduce the fluctuation of angle estimation error by 61.9%and shorten the transient process by 23%in dynamic process of sudden increasement of rated load torque.The dynamic performance and ability against disturbance are improved effectively.

关 键 词：永磁同步电机 无位置传感器控制 超螺旋滑模观测器 角度估算误差 PI补偿方法 滑模控制 正切趋近律 归一化补偿灵敏度 

分 类 号：TM351[电气工程—电机]