吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (4): 1017-1022.doi: 10.13229/j.cnki.jdxbgxb201604001

• Orginal Article •     Next Articles

Speed observer design for permanent magnet synchronous motor based on H∞ robust SUKF algorithm

ZHAO Bin1, 2, GUO Kong-hui1, XU Nan1, YANG Yi-yang1   

  1. 1.State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China;
    2.College of Electrical and Electronic Engineering,Changchun University of Technology, Changchun 130012, China
  • Received:2015-05-18 Online:2016-07-20 Published:2016-07-20

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Abstract: In order to solve the influence of stator resistance variation of permanent magnet synchronous motor on velocity measurement, by using a nonlinear system model of permanent magnet synchronous motor in α-β coordinate, the H∞ robust filtering algorithm is introduced to enhance the robustness of the observer. To solve problem of large calculating number of sigma points, a new nonlinear filter is proposed using the method of single sampling of the sphere. A H∞ robust spherical unscented Kalman filter observer is designed to observe the velocity state of the permanent magnet synchronous motor. When the permanent magnet synchronous motor stator resistance changes, the motor velocity error variances of the H∞ robust spherical unscented Kalman filter, unscented Kalman filter and spherical unscented Kalman filter are compared and analyzed under the same system noise and measurement noise. The speed error variance of the H∞ robust spherical unscented Kalman filter observer is close to 7 rad/min, which is much less than that of the other two observers, which are close to 40 rad/min and 20 rad/min respectively.

Key words: vehicle engineering, speed observation, nonlinear filter, permanent magnet synchronous motor (PMSM)

CLC Number: 

  • U41
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