基于卡爾曼和改進(jìn)滑模觀測(cè)器的永磁電機(jī)無(wú)位置控制
《中國(guó)測(cè)試》雜志
周大鵬， 張自友
（樂(lè)山師范學(xué)院物理與電子工程學(xué)院，四川 樂(lè)山 614004）
摘 要：針對(duì)以往永磁同步電機(jī)無(wú)位置控制方法存在估算精度不高和魯棒性不強(qiáng)的缺陷，提出一種PMSM無(wú)位置控制方法。首先，建立PMSM的數(shù)學(xué)模型，然后設(shè)計(jì)以電流誤差作為滑模面通過(guò)獲取反電動(dòng)勢(shì)實(shí)現(xiàn)對(duì)轉(zhuǎn)速和轉(zhuǎn)子位置估算方法，最后對(duì)開(kāi)關(guān)函數(shù)進(jìn)行改進(jìn)并采用卡爾曼對(duì)低通濾波器的輸出進(jìn)行過(guò)濾。系統(tǒng)測(cè)試表明：該法能較為準(zhǔn)確地對(duì)PMSM的轉(zhuǎn)子位置和速度進(jìn)行估算，且與傳統(tǒng)PID控制方法相比，具有抗干擾能力強(qiáng)、魯棒性好和響應(yīng)速度快的優(yōu)點(diǎn)。
關(guān)鍵詞：永磁同步電機(jī)；卡爾曼濾波；滑模；無(wú)位置
中圖分類號(hào)：TM351；TP301.6；TP391.9；TM930.114 文獻(xiàn)標(biāo)志碼：A 文章編號(hào)：1674-5124（2013）03-0104-04
Sensorless control of PMSM based on improved sliding mode observer
and Kalman filter
ZHOU Da-peng， ZHANG Zi-you
（College of Physics and Electronic Engineering，Leshan Normal University，Leshan 614004，China）
Abstract: Due to the poor performance of the estimation accuracy and robustness of the traditional control method for PMSM （permanent magnet synchronous motor）， a sensorless control method was proposed. Firstly， the mathematical model of PMSM was given. Then， the estimating method for the speed and position of the rotor was realized through obtaining the back EMF and taking the current error as the sliding mode surface. Finally， the switch function was improved and the Kalman filter was used to filter the output of the low-pass filter. The system test shows the method suggested in this paper can estimate the speed and position of the rotor， and compared with the traditional PID control method， it has the advantages of strong anti-jamming capability， good robustness and rapid following speed.
Key words: PMSM； Kalman filter； sliding mode； sensorless
