基于自抗扰控制器的PMSM无传感器控制

摘要

无传感器控制技术能够降低永磁同步电机(PMSM)控制系统的成本,同时提高可靠性.结合自抗扰控制器(ADRC),将负载转矩和摩擦转矩作为总扰动,设计一阶ADRC作为转速控制器;将电阻压降和反电动势作为总扰动,设计一阶ADRC作为电流控制器.利用电流环d轴ADRC中扩张状态观测量,结合锁相环(PLL)构造闭环控制估计转速和转角,实现无传感器控制.仿真和实验结果表明,系统能准确估计转速和转角,抗速度和负载扰动能力强,稳态和动态性能良好,对电机参数不敏感,鲁棒性强.%Sensorless control technology can reduce the cost and improve the reliability of the permanent magnet synchronous motor (PMSM) control system.Combining the active disturbance rejection controller (ADRC),the first-order ADRC is designed as the speed controller when the load torque and the friction torque are considered as the total disturbance and the first-order ADRC is designed as the current controller when the resistance voltage drop and the back electromotive force are considered as the total disturbance.The closed-loop control based on the extended state variable in ADRC of d-axis current loop and the phase locked-loop(PLL) is used to estimate the speed and rotor position to realize sensorless control.Simulation and experimental results show that the system can accurately estimate the speed and rotor position with strong anti-speed and anti-load disturbance ability and good steady and dynamic performance.In addition,the system is not sensitive with the variation of motor parameters and strong robustness.