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提出一种以d-q同步旋转坐标系下, 电流为观测对象的插入式永磁同步电机的非奇异高阶终端滑模观测器, 用来获得高性能矢量控制系统所必需的电机转子位置及速度信息. 采用非奇异终端滑模控制, 提高了观测器的动态响应速度及鲁棒性, 利用高阶滑模控制技术的特性, 有效地抑制了传统滑模控制的抖振现象. 同时给出了转速环及电流环调节器的参数设计方法, 转速环调节器采用积分反馈算法, 电流环调节器使用前馈解耦内模控制技术 ,参数在线调整简单. 将该算法应用到2 MW永磁同步低速电机无传感器控制系统中, 实验结果表明, 该方法能够准确计算出电机的位置和速度, 使系统具有良好的稳态精度和动态性能.
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关键词:
- 插入式永磁同步电机 /
- 无传感器控制 /
- 非奇异终端滑模观测器 /
- 高阶滑模控制
A nonsingular high-order terminal sliding-mode observer of interior permanent magnet synchronous motor (IPMSM) is presented, of which the state variable is the current of rotor-oriented d-q reference frame, to obtain the accurate information about angular speed and rotor position for high-performance vector control system. A nonsingular terminal sliding-mode observer is used to improve dynamic response of the observer speed and robustness of the current observer, and the high-order sliding mode method is adopted to estimate the chattering phenomenon of the conventional sliding-mode. Meanwhile, to obtain the regulator parameters of speed and current loop, an integral-feedback method of estimating the rotor speed is adopted, and the inner current loop is realized using a decoupling and diagonal internal model control algorithm. Experimental results of 2 MW PMSM drive system show that the proposed method can accurately estimate the position and speed of the rotor, and the system has good dynamic and static performances.-
Keywords:
- interior permanent magnet synchronous motor /
- sensorless control /
- nonsingular terminal sliding-mode observer /
- high-order sliding mode control
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[2] Li D, Wang S L, Zhang X H, Yang D Acta Phys. Sin. 58 2939 (in Chinese) [李东, 王时龙, 张小洪, 杨丹 2009 58 2939]
[3] Piippo A, Salomaki J, Luomi J 2008 IEEE Trans. Ind. Appl. 44 1614
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[6] Sakorn P, Somboon N 2012 IEEE Trans. Power Electr. 27 588
[7] Wang H X, Xiao F, Ma W M, Chen M L 2011 Electric Machine and Control. 15 49 (in Chinese) [王颢雄, 肖飞, 马伟明, 陈明亮 2011 电机与控制学报 15 49]
[8] Foo G, Rahman M F 2010 IEEE Trans. Ind. Electron. 57 1270
[9] Su J Y, Li T C, Yang G J 2009 Proceedings of the CSEE 29 98 (in Chinese) [苏健勇, 李铁才, 杨贵杰 2009 中国电机工程学报 29 98]
[10] Zheng X M, Li Q M, Shi H Y 2011 Control. Theory and Appl. 28 1467 (in Chinese) [郑雪梅, 李秋明, 史宏宇 2011 控制理论与应用 28 1467]
[11] Shi H Y, Feng Y 2012 Acta Autom. Sin. 38 288 (in Chinese) [史宏宇, 冯勇 2012 自动化学报 38 288]
[12] Feng Y, Zhang J F, Yu X H 2009 IEEE Trans. Industrial Electronics 56 3424
[13] Yang Z S, Zhong Y S 2009 Proceedings of the CSEE 29 84 (in Chinese) [杨书生, 钟宜生 2009 中国电机工程学报 29 84]
[14] Feng Y, Yu X, Man Z 2002 Automatica 38 2159
[15] Chung S K 2000 IEEE Trans. Power Electronics 15 431
[16] Harndfors L, Nee H P 2000 IEEE Trans. Industrial Electronics 47 77
[17] Harnefors L, Pietilainen K, Gertmar L 2001 IEEE Trans. Industrial Applications 48 161
[18] Harndfors L, Nee H P 1998 IEEE Trans. Industrial Applications 34 133
[19] Chan T F, Wang W, Borsje P 2008 IET Electric Power Applications 2 88
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[1] Chen Q, Ren X M 2010 Acta Phys. Sin. 59 2310 (in Chinese) [陈强, 任雪梅 2010 59 2310]
[2] Li D, Wang S L, Zhang X H, Yang D Acta Phys. Sin. 58 2939 (in Chinese) [李东, 王时龙, 张小洪, 杨丹 2009 58 2939]
[3] Piippo A, Salomaki J, Luomi J 2008 IEEE Trans. Ind. Appl. 44 1614
[4] Gheorghe D A, Cristian I P 2008 IEEE Trans. En. Convers. 23 93
[5] Wang J K, Sun Y B 2008 Modern Motor Contr. Technol. (Beijing: Mechanical Industry Press) p182 (in Chinese) [王加宽, 孙宜标 2008 现代电机控制技术 (北京: 机械工业出版社) 第182页]
[6] Sakorn P, Somboon N 2012 IEEE Trans. Power Electr. 27 588
[7] Wang H X, Xiao F, Ma W M, Chen M L 2011 Electric Machine and Control. 15 49 (in Chinese) [王颢雄, 肖飞, 马伟明, 陈明亮 2011 电机与控制学报 15 49]
[8] Foo G, Rahman M F 2010 IEEE Trans. Ind. Electron. 57 1270
[9] Su J Y, Li T C, Yang G J 2009 Proceedings of the CSEE 29 98 (in Chinese) [苏健勇, 李铁才, 杨贵杰 2009 中国电机工程学报 29 98]
[10] Zheng X M, Li Q M, Shi H Y 2011 Control. Theory and Appl. 28 1467 (in Chinese) [郑雪梅, 李秋明, 史宏宇 2011 控制理论与应用 28 1467]
[11] Shi H Y, Feng Y 2012 Acta Autom. Sin. 38 288 (in Chinese) [史宏宇, 冯勇 2012 自动化学报 38 288]
[12] Feng Y, Zhang J F, Yu X H 2009 IEEE Trans. Industrial Electronics 56 3424
[13] Yang Z S, Zhong Y S 2009 Proceedings of the CSEE 29 84 (in Chinese) [杨书生, 钟宜生 2009 中国电机工程学报 29 84]
[14] Feng Y, Yu X, Man Z 2002 Automatica 38 2159
[15] Chung S K 2000 IEEE Trans. Power Electronics 15 431
[16] Harndfors L, Nee H P 2000 IEEE Trans. Industrial Electronics 47 77
[17] Harnefors L, Pietilainen K, Gertmar L 2001 IEEE Trans. Industrial Applications 48 161
[18] Harndfors L, Nee H P 1998 IEEE Trans. Industrial Applications 34 133
[19] Chan T F, Wang W, Borsje P 2008 IET Electric Power Applications 2 88
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