吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (5): 1527-1534.doi: 10.13229/j.cnki.jdxbgxb201505022

• • 上一篇    下一篇

电动车用永磁电机新型观测器设计

张永博1, 2, 易伯瑜1, 康龙云1   

  1. 1.华南理工大学 机械与汽车工程学院, 广州 510640;
    2.华南农业大学 工程学院 广州 510642
  • 收稿日期:2014-03-04 出版日期:2015-09-01 发布日期:2015-09-01
  • 通讯作者: 康龙云(1961-),男,教授,博士生导师.研究方向:可再生能源,新能源变换控制技术,新能源汽车电机驱动技术.E-mail:lykang@scut.edu.cn
  • 作者简介:张永博(1968--）,男,讲师,博士研究生.研究方向:增程式电动车.E-mail:ybzhang@scau.edu.cn
  • 基金资助:
    国家自然科学基金项目(51377058)

Novel observer design of permanent magnet synchronous motor for electric vehicles

ZHANG Yong-bo1, 2, YI Bo-yu1, KANG Long-yun1   

  1. 1.School of Mechanical and Automobile Engineering, South China University of Technology, Guangzhou 510640, China;
    2.College of Engineering,South China Agriculture University,Guangzhou 510642,China
  • Received:2014-03-04 Online:2015-09-01 Published:2015-09-01

RICH HTML

0   

PDF (PC)

282

摘要： 在电动汽车永磁同步电机的无传感器控制中,转子磁链值的参数摄动对转子速度和角度的辨识效果影响较大。为此,可以把转子磁链作为变量加入到扩展卡尔曼滤波器中进行辨识,但这会增加运算矩阵的阶数,造成实际系统运算量偏大。为解决这一问题,通过坐标变换的方法将高阶的扩展卡尔曼滤波器分解成为两个并行的低阶卡尔曼滤波器,提出一种用于永磁电机无传感器控制的非线性两段扩展卡尔曼滤波器,并在理论上分析了滤波器所需的乘法加法运算次数。仿真及实验结果表明:与原有传统卡尔曼滤波器相比,该算法减少了一定的运算量并保持了良好的辨识效果。

关键词: 自动控制技术, 无传感器控制, 转子磁链, 非线性两段扩展卡尔曼滤波器

Abstract: The conventional sensorless algorithm for electric vehicle based on Extended Kalman Filter (EKF) can be influenced by the error of the rotor flux and shows considerable steady-state speed and position deviations. To take rotor flux as a variable in the EKF may increase the order of the operational matrix and the computation load of the real system. To solve this problem and still keep the advantage of the original algorithm, a novel Kalman control strategy using Nonlinear Two-stage EKF (NTSEKF) is proposed. The main idea is to decouple the Kalman filter into two parallel low order filters using coordinate transformation. In theory, the total number of multiplication and addition operations for EKF and NTSEKF is calculated respectively. Simulation and experimental results show that the novel strategy can reduce the number of arithmetic operations compared to EKF meanwhile still keep good identification performance.

Key words: automatic control technology, sensorless control, rotor flux, nonlinear two-stage extended Kalman filter

中图分类号: 

  • TP29
[1] 邹继斌,李建军,徐永向,等.基于重复控制深海柱塞泵用永磁同步电机转速波动的抑制[J]. 电工技术学报,2011,26(6): 46-50. Zou Ji-bin, Li Jian-jun, Xu Yong-xiang, et al. Repetitive controller for suppression of the speed fluctuation in PMSM used for deep-sea plunger pump[J]. Transactions of China Electrotechnical Society, 2011, 26(6): 46-50.
[2] 郭新华,王永兴,赵峰,等.基于SHEPWM的中压大功率牵引永磁同步电机两电平控制[J]. 电工技术学报,2012,27(11): 76-82. Guo Xin-hua, Wang Yong-xing, Zhao Feng, et al. Two level control technology of PMSM used in medium voltage high power traction system based on SHEPWM[J]. Transactions of China Electrotechnical Society, 2012, 27(11): 76-82.
[3] 鲁文其,黄文新,胡育文.永磁同步电动机新型滑模观测器无传感器控制[J].控制理论与应用,2009,26(4): 429-432. Lu Wen-qi, Huang Wen-xin, Hu Yu-wen.A novel sliding-mode observer for the sensorless control of permanent-magnet synchronous machines[J]. Control Theory & Applications,2009,26(4): 429-432.
[4] 王礼鹏,张化光,刘秀翀.永磁同步电动机无速度传感器矢量调速系统的积分反步控制[J].控制理论与应用,2012,29(2): 199-204. Wang Li-peng, Zhang Hua-guang, Liu Xiu-chong. Integral backstepping controller in the sensorless vector-control system for permanent magnet synchronous motor[J]. Control Theory & Applications,2012,29(2): 199-204.
[5] 张猛,肖曦,李永东.基于扩展卡尔曼滤波器的永磁同步电机转速和磁链观测器[J].中国电机工程学报,2007,27(36): 36-40. Zhang Meng,Xiao Xi,Li Yong-dong.Speed and flux linkage observer for permanent magnet synchronous motor based on EKF[J].Proceedings of the CSEE,
2007,27(36): 36-40.
[6] 尹忠刚,张瑞峰,钟彦儒,等.基于抗差扩展卡尔曼滤波器的永磁同步电机转速估计策略[J].控制理论与应用,2012,29(7): 921-927. Yin Zhong-gang, Zhang Rui-feng, Zhong Yan-ru, et al.Speed estimation for permanent magnet synchronous motor based on robust extended Kalman filter[J]. Control Theory & Applications,2012,29(7): 921-927.
[7] 陈振,刘向东,靳永强,等.采用扩展卡尔曼滤波磁链观测器的永磁同步电机直接转矩控制[J].中国电机工程学报,2008,28(33): 75-81. Chen Zhen,Liu Xiang-dong,Jin Yong-qiang,et al.Direct torque control of permanent magnet synchronous motors based on extended Kalman filter observer of flux linkage[J].Proceedings of the CSEE,2008,28(33):75-81.
[8] Vyncke T J, Boel R K, Melkebeek J A A. A comparison of stator flux linkage estimators for a direct torque controlled PMSM drive[C]∥35th Annual Conference of the IEEE Industrial Electronics Society.Porto, Portugal:IEEE, 2009:971-978.
[9] Vyncke T J, Boel R K, Melkebeek J A A. On the stator flux linkage estimation of an PMSM with extended Kalman filters[C]∥5th IET International Conference on Power Electronics, Machines and Drives.Brighton, United Kingdom:IET, 2010:1-6.
[10] Hsieh C S, Chen F C.Optimal solution of the two-stage Kalman estimator[J]. IEEE Transactions on Automatic Control,1999, 44(1): 194-199.
[11] Hsieh C S, Chen F C.Optimal minimal-order least-squares estimators via the general two-stage Kalman filter[J]. IEEE Transactions on Automatic Control, 2001, 46(11): 1772-1776.
[12] Hsieh C S, Chen F C.General two-stage Kalman filters[J]. IEEE Transactions on Automatic Control, 2000, 45(4): 819-824.
[13] Kim K H, Lee J G, Park C G.Adaptive two-stage Kalman filter in the presence of unknown random bias[J]. International Journal of Adaptive Control and Signal Processing, 2006, 20(7): 305-319.
[14] Hilairet M, Auger F, Berthelot E.Speed and rotor flux estimation of induction machines using a two-stage extended Kalman filter[J]. Automatica, 2009, 45(8): 1819-1827.
[1] 顾万里,王萍,胡云峰,蔡硕,陈虹. 具有H∞性能的轮式移动机器人非线性控制器设计[J]. 吉林大学学报(工学版), 2018, 48(6): 1811-1819.
[2] 李战东,陶建国,罗阳,孙浩,丁亮,邓宗全. 核电水池推力附着机器人系统设计[J]. 吉林大学学报(工学版), 2018, 48(6): 1820-1826.
[3] 赵爽,沈继红,张刘,赵晗,陈柯帆. 微细电火花加工表面粗糙度快速高斯评定[J]. 吉林大学学报(工学版), 2018, 48(6): 1838-1843.
[4] 王德军, 魏薇郦, 鲍亚新. 考虑侧风干扰的电子稳定控制系统执行器故障诊断[J]. 吉林大学学报(工学版), 2018, 48(5): 1548-1555.
[5] 闫冬梅, 钟辉, 任丽莉, 王若琳, 李红梅. 具有区间时变时滞的线性系统稳定性分析[J]. 吉林大学学报(工学版), 2018, 48(5): 1556-1562.
[6] 张茹斌, 占礼葵, 彭伟, 孙少明, 刘骏富, 任雷. 心肺功能评估训练系统的恒功率控制[J]. 吉林大学学报(工学版), 2018, 48(4): 1184-1190.
[7] 董惠娟, 于震, 樊继壮. 基于激光测振仪的非轴对称超声驻波声场的识别[J]. 吉林大学学报(工学版), 2018, 48(4): 1191-1198.
[8] 田彦涛, 张宇, 王晓玉, 陈华. 基于平方根无迹卡尔曼滤波算法的电动汽车质心侧偏角估计[J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[9] 张士涛, 张葆, 李贤涛, 王正玺, 田大鹏. 基于零相差轨迹控制方法提升快速反射镜性能[J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[10] 王林, 王洪光, 宋屹峰, 潘新安, 张宏志. 输电线路悬垂绝缘子清扫机器人行为规划[J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[11] 胡云峰, 王长勇, 于树友, 孙鹏远, 陈虹. 缸内直喷汽油机共轨系统结构参数优化[J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[12] 朱枫, 张葆, 李贤涛, 王正玺, 张士涛. 基于强跟踪卡尔曼滤波的陀螺信号处理[J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[13] 晋超琼, 张葆, 李贤涛, 申帅, 朱枫. 基于扰动观测器的光电稳定平台摩擦补偿策略[J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[14] 冯建鑫. 具有测量时滞的不确定系统的递推鲁棒滤波[J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[15] 许金凯, 王煜天, 张世忠. 驱动冗余重型并联机构的动力学性能[J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
版权所有 © 《吉林大学学报(工学版)》编辑部
地址：长春市人民大街5988号　电话：+86-431-85095297　传真：+86-431-85094074　E-mail: xbgxb@jlu.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发