基于并行卡尔曼滤波永磁电机无传感器控制.doc

基于并行卡尔曼滤波的永磁电机无传感器控制 易伯瑜1,2，姜凯1,3，康龙云1,3 ( 1. 华南理工大学电力学院，广州 510640，中国 2. 湖南人文科技学院，娄底 417001，中国 3. 广东省绿色能源技术重点实验室，广州 510640，中国) 摘要：永磁同步电机矢量控制需要准确的电机转速与转子位置信息。在现有基于卡尔曼滤波器的无传感器控制技术基础上，提出一种新型并行卡尔曼滤波器无传感器控制技术。该方法将速度范围分为低速和中高速两部分，针对不同的速度范围，在静止两相坐标系上建立相应的数学模型，并基于此数学模型设计控制策略，该控制策略采用两个并行的卡尔曼滤波器轮流对转子位置信息进行观测，再通过软件锁相环结构估算出电机转速。实验结果表明该方法所得出的观测值具有很高的观测精度，对电机参数摄动有很强的鲁棒性。相对传统的卡尔曼滤波器观测方法降低了矩阵的阶数，缩短了运算时间，降低了硬件的成本。 关键字：永磁同步电机，矢量控制，无传感器技术，并行扩展卡尔曼滤波，软件锁相环 Sensorless Vector Control of Permanent Magnet Synchronous Motor Based on Parallel Extended Kalman Filter YI Bo-yu1,2, JIANG Kai1,3, KANG Long-yun1,3 （1. Electric Power College, South China University of Technology, Guangzhou 510640, China 2. Hunan University of Humanities, Science and Technology, Loudi 417001, China 3. Guangdong Key Laboratory of Green Energy Technology，Guangzhou 510640，China） Abstract:：Vector control of Permanent magnet synchronous motor requires accurate motor speed and rotor position. Based on exsiting Sensorless control technology, a novel sensorless control strategy by using parallel reduced-order extended kalman filter has been proposed. For different speed ranges, establish the corresponding mathematical model on basis of stationary two-phase coordinate and use these model to formulate control scheme. There are two EKFs in the proposed scheme, which are operated in parallel. The control scheme estimates the rotor speed through software phase lock loop. Experimental results show that the novel strategy can estimate the parameter precisely and strong robustness to parameter perturbation. Compared to conventional extended kalman filter observe method, the new EKF algorithm reduces matrix order, saves operation time and reduces the cost of the hardware. Key words: Permanent Magnet Synchronous Motor(PMSM), vector control，sensorless control, parallel extended kalman filter, software phase lock loop 0 引 言 永磁同步电机(permanent magnet synchronous motor，PMSM)具有体积小、效率高、电磁转矩大、控制方便等优点，故其成为伺服系统中执行机构的最佳选择之一。基于转子磁场定向的矢量控制技术现在已发展成熟