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摘要:
针对无位置传感器永磁同步电机（PMSM）在高速运行时无法准确观测转子位置，导致三相电流波动畸变的问题，提出了一种改进型滑模观测器（SMO）来预估转子位置和速度的新方法。该改进型滑模观测器采用S型切换函数来估算反电动势，并通过软件锁相环（SPLL）算法计算转子位置角，降低了传统滑模观测器抖振对转子位置角的影响，实现了PMSM在高速运行状态下转子位置角的准确观测。开发出一套高速永磁同步电机控制器，实现了电机在超高速高功率状态稳定运行。
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关键词:
- 永磁同步电机(PMSM) /
- 无位置传感器 /
- 滑模观测器(SMO) /
- S型切换函数 /
- 软件锁相环(SPLL)
Abstract:Due to the problem that the rotor position of sensorless Permanent Magnet Synchronous Motor (PMSM) cannot be accurately observed at high speed, which causes distortion of three-phase current fluctuation, an improved Sliding Mode Observer (SMO) is proposed to estimate the rotor position and speed more precisely. A function is adopted to be the switching function of the SMO to eliminate the fluctuation in the calculation of the back-EMF. Furthermore, a Software Phase Locked Loop (SPLL) algorithm is introduced to decrease the influence of chatting of traditional sliding mode observer on rotor position. The combined method significantly improves the observation accuracy of the rotor position angle at high speed. A controller of high speed PMSM is successfully developed and can works steadily under ultra-high speed and high power condition.
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图 9 改进切换函数转子位置角波形对比
Figure 9. Comparison of improved switching function rotor position angle waveforms
图 10 改进SMO转子位置角波形对比
Figure 10. Comparison of improved SMO rotor position angle waveforms
图 13 电流矢量幅值及转速波动(用标准差测量)
Figure 13. Current vector amplitude and speed fluctuations (measured by standard deviation)
图 14 传统SMO和改进SMO转子位置角波形(转速为50 000 r/min)
Figure 14. Traditional SMO and improved SMO rotor position angle waveform (rotating speed equals to 50 000 r/min)
图 15 传统SMO和改进SMO电机相电流波形(转速为50 000 r/min)
Figure 15. Traditional SMO and improved SMO motor phase current waveform (rotating speed equals to 50 000 r/min)
图 16 传统SMO和改进SMO电机电流电压谐波
Figure 16. Traditional SMO and improve SMO motor current voltage harmonics
图 17 改进SMO控制转子位置角和控制相电流波形(转速为98 000 r/min)
Figure 17. Improved SMO control rotor position angle and control with phase current waveform (rotating speed equals to 98 000 r/min)
表 1 实验用空气压缩机电机参数
Table 1. Air compressor motor parameters for experiment
电机参数 数值 额定功率/kW 18 额定转速/(r·min-1) 100 000 极对数 1 线电感/μH 312 线电阻/Ω 0.114 额定电流/A 80 电池电压/V 250~400 
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