基于滑模速度控制器的PMSM无速度传感器控制研究

摘要

针对传统永磁同步电机( PMSM)矢量控制系统中易受机械式传感器影响的问题,设计了一套基于扩展卡尔曼滤波器( EKF)的PMSM无传感器控制系统;同时由于负载突变和系统参数变化会影响整个控制系统的稳定性,提出一种滑模控制器( SMC)来取代传统PI 速度控制器. 首先对PMSM数学模型进行线性化处理,在此基础上引入EKF算法实现转速、位置的在线估计,并且设计以转速误差作为状态变量的滑模速度控制器,实现速度环的闭环调节. 仿真结果表明,EKF可以有效地对转子速度、位置进行估算,且在滑模速度控制器的作用下系统响应更快、抗干扰性能更好、鲁棒性更强.%A method based on extended kalman filter( EKF) of permanent synchronous motor without position sensor was proposed due to the mechanical sensor problem exiting in traditional PMSM vector control system. At the same time varying load and parameter variations also affect the stability of the whole control system, so a sliding mode controller was used to replace the traditional PI controller. At first, linearizing mathematical model of PMSM,then using extended Kalman filtering algorithm to estimate speed and position, at last, designing speed error as the state variables of the sliding mode speed controller to realize closed-loop control. The simulation results showed that the EKF could estimate the rotor speed and position effectively and system has faster response、better anti-interference performance and stronger robustness under the action of sliding mode speed controller.