基于自适应EKF的永磁同步电主轴无感控制  

Senseless Control of Permanent Magnet Synchronous Electric Spindle Based on Adaptive EKF

作　　者：张新杰 单文桃 王鑫 胡文豪 曹伟长 ZHANG Xinjie;SHAN Wentao;WANG Xin;HU Wenhao;CAO Weichang(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China;School of Electrical Information Engineering,Jiangsu University of Technology,Changzhou 213001,China)

机构地区：[1]江苏理工学院机械工程学院,常州213001 [2]江苏理工学院电气信息工程学院,常州213001

出　　处：《组合机床与自动化加工技术》2025年第2期153-157,162,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：江苏省高校自科重大项目(19KJA510001);江苏省青蓝工程中青年学术带头人项目(KYQ20004);江苏理工学院研究生实践创新计划项目(XSJCK24_45)。

摘　　要：利用扩展卡尔曼滤波算法(EKF)对永磁同步电主轴(PMSMS)进行无传感算法控制时,由于估算精度与控制器计算性能的局限,限制了其实际工程层面的应用。同时,为了避免在永磁同步电主轴(PMSMS)中传感器易受外界干扰等问题,设计了一种基于自适应扩展卡尔曼滤波算法(AEKF),在过程噪声具有非关联性的基础上,引入过程修正系数来获得过程噪声协方差的自适应更新,其在抵消状态协方差数据缺失误差的同时,达到对估算结果的优化。通过在电流环采用自抗扰控制可以提高模型误差鲁棒性、减少超调。利用MATLAB内置函数处理实际与估计的转速/角度误差数据,证明了该算法可提高估计转速精度约35.64%,提高估计角度精度约0.63%。仿真实验结果表明,AEKF能准确地估算出主轴在空载和突加10 N·m的阶跃负载时电主轴的转速与转子角度,该算法具有较好的预测性和较强的抗负载性。Permanent magnet synchronous motor spindles(PMSMS),the estimation accuracy and computational performance limitations of the controller restrict its practical engineering applications.To circumvent the issues of installing mechanical sensors in PMSMS,which are prone to internal and external disturbances,a design based on the adaptive extended kalman filter(AEKF) algorithm is proposed.This approach introduces process correction coefficients on the basis of the non-correlation of process noise,enabling adaptive updates of the process noise covariance to compensate for the error due to missing state covariance data,thereby optimizing estimation results.Additionally,an adaptive control system utilizing current loop disturbance rejection control is implemented to enhance model error robustness and reduce overshoot.Utilizing MATLAB′s built-in function Var to process real and estimated speed/angle data demonstrates that the algorithm can improve speed estimation accuracy by approximately 35.64% and angle accuracy by about 0.63%.Simulation results indicate that AEKF can accurately estimate the spindle speed and rotor angle under no-load conditions and sudden step loads of 10 N·m,showcasing good predictability and strong load resistance capabilities.

关 键 词：永磁同步电主轴 自适应扩展卡尔曼滤波 无传感器控制 自抗扰控制 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]