Modified sensorless control of PMSM based on super-twisting sliding mode auto disturbance rejection
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摘要:
针对永磁同步电机矢量控制系统中无传感器控制策略的抗扰动动态性能不足的问题。对超螺旋滑模算法(STA)进行研究，提出一种改进超螺旋滑模自抗扰控制(ISTA-ADRC)算法，该算法在原有超螺旋滑模算法的基础上引入改进Sigmoid函数和线性项。相较于传统超螺旋滑模算法，所提算法具有更好的快速性和鲁棒性。将所提算法嵌入自抗扰控制技术中，提出以改进超螺旋滑模自抗扰为核心的无传感器控制策略，提升无传感器控制法的抗扰性能。仿真实验结果表明:所提算法相比于传统的PI、线性自抗扰(LADRC)和滑模自抗扰算法，具有响应速度快、抖振小、抗扰能力强、稳态性能好的优点。
Abstract:The dynamic performance of the sensorless control strategy in the vector control system of a permanent magnet synchronous motor is insufficient. Firstly, the super twisting sliding mode algorithm (STA) is studied, and super twisting sliding mode auto disturbance rejection control (STA-ADRC) algorithm is proposed, which introduces an improved Sigmoid function and linear term on the basis of the original super spiral sliding mode algorithm. Compared with the traditional super spiral sliding mode algorithm, the proposed algorithm has better rapidity and robustness. Secondly, a sensorless control strategy based on enhanced super twisting sliding mode auto disturbance rejection control is suggested to enhance the disturbance rejection performance of the sensorless control. According to the simulation results, the proposed algorithm has the following benefits over the conventional PI, liner auto disturbance rejection control (LADRC), and sliding mode auto disturbance rejection control: quick response time, minimal buffeting, robust disturbance immunity, and good steady-state performance.
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图 1 传统一阶LADRC速度环控制结构
Figure 1. Structure of a traditional first-order LADRC speed loop control
图 2 改进一阶ADRC控制的速度环结构
Figure 2. Structure of an improved first-order ADRC speed loop control
图 7 突增和突降负载的转速抗扰性能曲线
Figure 7. Speed resilience curves under sudden load increase and decrease
图 10 LESO估计转子位置与实际位置波形对比
Figure 10. Comparison of estimated rotor position and actual position waveforms with LESO
表 1 PMSM参数
Table 1. PMSM parameters
参数 数值 转动惯量J/( kg·m2) 0.003 永磁体磁链φf/Wb 0.175 d-q轴电感Ldq/mh 8.500 定子电阻Rs/Ω 2.875 极对数pn 4.000 阻尼系数B/ (N·m·s) 0.008 
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