摘要
为了获得永磁同步电机转子的位置信息,提出了一种五阶扩展卡尔曼滤波器(EKF)的算法;在传统的四阶EKF中引入对负载转矩的估算,并将其前馈至电流环以解决速度环对外界负载扰动响应慢的问题;通过设计改进的递推最小二乘法实时辨识电机的转动惯量,优化了系统的观测性能和鲁棒性,基于Simulink搭建仿真模型,结果表明该观测器性能优秀且提高了系统的抗扰动性能;最后,通过硬件实验实现了电机位置误差仅在0.02 rad以内,且负载转矩观测误差在4%以内,有效改善了系统在有负载波动时的动态特性。
In order to obtain the position information of the rotor of permanent magnet synchronous motor,an extended Kalman filter(EKF)algorithm is proposed;Introducing the estimation of load torque in the traditional fourth-order EKF and feedforward it to the current loop to solve the problem of slow response of the speed loop to external load disturbances;By designing an improved recursive least squares method for real-time identification of the motor′s moment of inertia,the observation performance and robustness of the system were optimized.Building a simulation model based on Simulink,the results show that the observer has excellent performance and improves the system′s disturbance resistance.Finally,hardware experiments were conducted to achieve a motor position error of only 0.02 rad and a load torque observation error of less than 4%,effectively improving the dynamic characteristics of the system under load fluctuations.
作者
任永强
侯陈义
王淑旺
蒋曜骏
REN Yongqiang;HOU Chenyi;WANG Shuwang;JIANG Yaojun(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China;Anhui Juyi Technology Co.,Ltd.,Hefei 230041,China)
出处
《组合机床与自动化加工技术》
北大核心
2024年第11期122-124,129,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
安徽省重点研究和开发计划项目(202304a05020084)。
作者简介
任永强(1968-),男,副教授,硕士生导师,博士,研究方向为汽车制造技术与智能装备、新能源汽车电驱动系统,E-mail:ryqiang@hfut.edu.cn;通信作者:侯陈义(2000-),男,硕士研究生,研究方向为新能源汽车电驱动系统,E-mail:2505638304@qq.com。
