基于滑模观测器的交流伺服电机无传感器控制∗

摘要

A sensorless control method of permanent magnet synchronous AC servo motor based on sliding mode observer ( SMO) was presented. Through the analysis for mathematical model of PMSM in static coordinate system, extended electromotive force ( EEMF) estimation which contains traditional back EMF and a kind of voltage related to the saliency of the motor was introduced based on the sliding mode current observer, the sliding mode observer was constructed to estimate the EEMF component in two-phase static coordinate system. Analyzed the reasons of the existence of chattering, Sigmoid function was used to reduce the chattering, instead of constant switching function. Using extended Luenberger observer to observe the position and velocity of the rotor. Simulation results were provided to verify its feasibility and effectiveness.%研究了一种基于滑模观测器的永磁同步交流伺服电机无传感器控制方案。通过对静止坐标系中永磁同步电机( PMSM)数学模型的分析，在滑模电流观测器基础上引入扩展反电势( EEMF)估计值，其中包含传统反电势及与电机凸极性相关的电压分量，构造了相应的滑模观测器来估计两相静止坐标系中EEMF分量。通过分析抖振存在的原因，采用Sigmoid函数代替常数切换函数来减小抖振，并利用扩展龙贝格观测器观测出转子的速度和空间位置。仿真结果验证了控制方案的有效性和可行性。