计及时变扰动下永磁牵引电机无传感器滑模控制

李祥飞; 刘捃锓; 王坚; 赵凯辉; 印阳; 邹莉华

doi:10.13890/j.issn.1000-128X.2023.01.012

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计及时变扰动下永磁牵引电机无传感器滑模控制

电力牵引与控制 | 更新时间：2024-08-02

- 计及时变扰动下永磁牵引电机无传感器滑模控制
- Sliding mode control for permanent magnet synchronous motor of sensor-less considering time-varying disturbance
- 机车电传动 2023年第1期页码：86-96
- 作者机构：
  
  1.湖南工业大学　电气与信息工程学院，湖南　株洲　　412007
  2.中车株洲电力机车研究所有限公司，湖南;株洲　　412001
- 作者简介：
  
  邹莉华（1974—），女，讲师，主要从事电机控制方面的研究；E-mail: zoulihua0518@163.com
- 基金信息：
  
  国家自然科学基金项目(61473117┫子课题┣3710234);湖南省自然科学联合基金项目(2018JJ4066)
- DOI：10.13890/j.issn.1000-128X.2023.01.012
  中图分类号：
- 纸质出版日期：2023-01-10，
  
  收稿日期：2022-09-13，
  
  修回日期：2022-11-30，
- 稿件说明：
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李祥飞, 刘捃锓, 王坚, 等. 计及时变扰动下永磁牵引电机无传感器滑模控制[J]. 机车电传动, 2023(1): 86-96.

LI Xiangfei, LIU Junqin, WANG Jian, et al. Sliding mode control for permanent magnet synchronous motor of sensor-less considering time-varying disturbance[J]. Electric Drive for Locomotives, 2023(1): 86-96.
李祥飞, 刘捃锓, 王坚, 等. 计及时变扰动下永磁牵引电机无传感器滑模控制[J]. 机车电传动, 2023(1): 86-96. DOI： 10.13890/j.issn.1000-128X.2023.01.012.

LI Xiangfei, LIU Junqin, WANG Jian, et al. Sliding mode control for permanent magnet synchronous motor of sensor-less considering time-varying disturbance[J]. Electric Drive for Locomotives, 2023(1): 86-96. DOI： 10.13890/j.issn.1000-128X.2023.01.012.

摘要

针对永磁同步牵引电机因参数摄动不确定因素造成控制性能下降以及速度传感器存在成本高、环境要求严格、估计精度不足等问题，提出了一种基于自适应广义高阶平方根容积卡尔曼滤波算法（ASRGHCKF）无速度传感器的永磁同步电机（PMSM）自适应非奇异快速终端滑模控制算法。首先，建立参数摄动下PMSM数学模型；其次，基于扩展滑模扰动观测器（ESMDO）设计自适应非奇异快速终端滑模转速控制算法（ANFTSMC），选择新型指数趋近律可随系统距离滑模面的远近自适应调整趋近速度，同时ESMDO实时精准观测系统的未知扰动部分；最后，结合ASRGHCKF实时精准估计电机的转速和转子位置。通过与PI和传统SMC算法进行仿真和半实物试验对比，验证了该算法在电机参数摄动下暂稳态性能更佳，有利于改善PMSM的无速度传感器控制效果。

Abstract

To solve the degradation in control performance of permanent magnet synchronous motors (PMSMs) due to uncertainties from parameter perturbation

as well as the problems arising from the speed sensor

such as high cost

demanding environmental requirements and deficient accuracy of estimation

this paper proposed an adaptive non-singular fast terminal sliding mode control strategy for PMSMs of sensor-less speed regulation based on the adaptive square root generalized high-order cubature Kalman filter (ASRGHCKF) algorithm. A mathematical model of PMSM was first established under parameter perturbation

and an adaptive non-singular fast terminal sliding mode control algorithm (ANFTSMC) was designed depending on the extended sliding mode disturbance observer (ESMDO). A novel exponential reaching law was selected to adaptively adjust the approach speed depending on the distance of the system from the sliding surface while the unknown disturbance of the system was accurately observed by ESMDO in real time. Finally

the speed and rotor position of the motor were estimated accurately

in combination with ASRGHCKF. Based on the simulation and semi-physical experiment results in comparison with PI control and the traditional sliding mode control (SMC) algorithm

the strategy under the current study was proven with better transient stability performance under motor parameter perturbation

benefiting to improving the sensor-less control effect of PMSM.

关键词

永磁同步电机自适应广义高阶平方根容积卡尔曼算法非奇异快速终端滑模扩展滑模扰动观测器

Keywords

permanent magnet synchronous motoradaptive generalized high order square root cubature Kalman-filter algorithmnon-singular fast terminal sliding modeextended sliding mode disturbance observer

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