扩展卡尔曼观测器下的永磁同步电机负载扰动抑制研究  

Research on Load Disturbance Suppression Technology of Permanent Magnet Synchronous Motor under Extended Kalman Filter

作　　者：刘栋良[1,2] 赵金洋 董旭辉 陈黎君 王晓啸 Liu Dongliang;Zhao Jinyang;Dong Xuhui;Chen Lijun;Wang Xiaoxiao(School of Artificial Intelligence Hangzhou Dianzi University,Hangzhou 310018 China;Wolong Electric Group Co.Ltd,Shangyu 312300 China)

机构地区：[1]杭州电子科技大学自动化学院,杭州310018 [2]卧龙电气驱动集团股份有限公司,上虞312300

出　　处：《电工技术学报》2025年第8期2488-2503,共16页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(51907052)。

摘　　要：永磁同步电机(PMSM)无传感器控制系统中,观测器的设计至关重要,其精确性与稳定性直接影响系统性能。此外,如何有效适应突变负载引起的波动,提升系统运行的可靠性,是无传感器控制的一大难点。为此,该文首先在新坐标系下建立了永磁同步电机的数学模型,利用扩展卡尔曼滤波(EKF)算法来精确估计电机状态,提升控制精度的同时确保可靠运行。然后,分析了在电机稳定运行时和突变负载后的电流谐波变化,在线性自抗扰控制的基础上,引入二阶振荡函数,提出一种改进的惯性自抗扰控制(IADRC)技术,旨在削弱电流谐波的干扰。最后,利用奈奎斯特稳定判据证明了系统的稳定性,并通过仿真和实验证明了该方法的有效性和优越性。Regarding the sensorless control system of permanent magnet synchronous motors(PMSM),this paper combines extended Kalman filtering(EKF)and improved inertial active disturbance rejection control(IADRC).By establishing a mathematical model under the new coordinate system and applying the EKF algorithm,the state of the motor is accurately estimated,thus ensuring the accuracy and stability of the control system.Aiming at the current harmonic disturbance caused by the sudden load change,this paper introduces the second-order oscillation function to optimize the traditional linear active disturbance rejection control and proposes an improved IADRC strategy,which significantly attenuates the harmonic disturbances and strengthens the system's immunity to disturbances.According to the traditional mathematical model of the PMSM motor under theγδ-axis,the mathematical model of the PMSM motor under the estimated rotational coordinate systemγδis constructed,and the angle eθγbetween the dq-axis and theγδ-axis is directly estimated,eliminating the influence of the other observers.After that,through the mutual validation of simulation and the mathematical model,the second-order oscillating function is connected in parallel to suppress current harmonics.The 3rd,5th,and 7th periodic harmonics with high harmonic contents are suppressed.Its effectiveness and stability are proved by Bode's plot and the Nyquist curve plot,respectively.The EKF's direct estimation method of error angle eθγinγδcoordinate system is verified Through simulation and experiment,speed step,sudden load addition,and starting with rated load.Meanwhile,compared with the traditional PI control and LADRC control,IADRC plays a role in suppressing the low harmonics when the motor is running stably at 1000 r/min with rated load.The 5th and 7th harmonic contents are reduced by 50.5%and 77.4%compared to PI.The IADRC algorithm based on the LADRC algorithm can suppress specific harmonics,with a 41.3%reduction in 5th harmonic content compared to the LADRC and a

关 键 词：永磁同步电机 惯性自抗扰控制 扩展卡尔曼滤波器 电流谐波 新坐标系 

分 类 号：TM351[电气工程—电机]