基于改进超螺旋滑模观测器的PMSM无位置传感器控制

doi:10.16182/j.issn1004731x.joss.25-1012

摘要/Abstract

摘要：

针对永磁同步电机无位置传感器控制系统中使用传统超螺旋滑模观测器观测反电动势时存在的抖振以及在宽速域范围内增益的不匹配问题，提出一种改进型增益自适应超螺旋滑模观测器。通过在超螺旋算法中引入线性矫正项，结合基于转速反馈策略的增益自适应律，使系统实现了有限时间收敛与宽速域内的高精度反电动势估计。构建增益可变的自适应复系数滤器，有效抑制了观测反电势中的谐波成分，避免因使用传统低通滤波器带来的幅值衰减和相位延迟。仿真结果表明：该方法在观测精度和鲁棒性方面均优于传统方法。

关键词: 永磁同步电机, 无传感器控制, 超螺旋滑模观测器, 增益自适应, 复系数滤波器

Abstract:

To address the chattering in back electromotive force estimation and the gain mismatch across a wide speed range when using a conventional super-twisting sliding-mode observer in the sensorless control system of a permanent-magnet synchronous motor, this paper proposed an improved adaptive-gain super-twisting sliding-mode observer. A linear correction term was introduced into the super-twisting algorithm and integrated with a gain adaptation law based on speed feedback, enabling the system to achieve finite-time convergence and high-precision back electromotive force estimation over a wide speed range. A variable-gain adaptive complex-coefficient filter was constructed to effectively suppress the harmonic components in the observed back electromotive force and avoid the amplitude attenuation and phase delay caused by using a conventional low-pass filter. Simulation results indicate that the proposed method outperforms conventional methods in terms of observation accuracy and robustness.

Key words: permanent-magnet synchronous motor, sensorless control, super-twisting sliding-mode observer, gain adaptation, complex-coefficient filter

中图分类号:

TM351

陈石宇,陈新民,胡雄龙等 . 基于改进超螺旋滑模观测器的PMSM无位置传感器控制[J]. 系统仿真学报, 2026, 38(8): 2324-2337.

Chen Shiyu,Chen Xinmin,Hu Xionglong,et al . Sensorless Control of PMSM Based on an Improved Super-twisting Sliding-mode Observer[J]. Journal of System Simulation, 2026, 38(8): 2324-2337.

图/表 23

图1

图2

图3

图4

图5

图6

图7

表1

PMSM主要参数

主要参数	数值
极对数 $p n$ _π	4
定子电阻 $R s / Ω$	0.045
定子电感 $L s / m H$	0.235
磁链 $ψ f / W b$	0.048 517
转动惯量 $J / (k g ⋅ m 2)$	0.003 4
阻尼系数 $B / (N ⋅ m ⋅ s)$	0

表1

表2

控制器参数

控制方式	参数
STA-SMO	$k 1 = 150$ , $k 2 = 5 000$
IAST-SMO	$λ 1 = 0.02$ , $λ 2 = 0.005$
IAST-SMO	$λ 3 = 0.007$ , $λ 4 = 0.000 35$
VG-ACCF	$k c = 1.2$ , $k c = 2$
PLL	$k p = 200$ , $k i = 1 000$

表2

图8

图9

图10

图11

表3

改进滤波器控制下系统稳态性能对比

转速/(r/min)	控制方式	转速波动/(r/min)	转速观测误差/(r/min)	位置观测误差 $/ r a d$
200	STA-SMO	1.3	3.2	0.013
200	IAST-SMO	1.1	3.0	0.012
600	STA-SMO	2.7	3.9	0.029
600	IAST-SMO	1.9	3.6	0.028
1 200	STA-SMO	1.6	2.6	0.053
1 200	IAST-SMO	1.3	2.2	0.052

表3

图12

图13

图14

图15

表4

空载变转速控制下系统动态性能对比

控制方式	超调量/(r/min)	上升/下降时间 $/ m s$	稳定时间 $/ m s$
STA-SMO	58.9	24.66	94.92
IAST-SMO	48.6	23.02	89.23
STA-SMO	57	20.75	78.04
IAST-SMO	45.9	18.67	65.47
STA-SMO	66.9	25.03	101.66
IAST-SMO	52.1	22.31	93.96

表4

图16

图17

表5

恒速变负载控制下系统动态性能对比

转速/(r/min)	控制方式	负载变化	转速波动/(r/min)	稳定时间 $/ m s$
600	STA-SMO	1	112.7	83.42
	STA-SMO	2	129.8	76.66
	IAST-SMO	1	102.9	78.71
	IAST-SMO	2	118.2	69.12
1 200	STA-SMO	1	125.1	63.60
	STA-SMO	2	115.2	65.84
	IAST-SMO	1	115.3	60.51
	IAST-SMO	2	109	63.00

表5

图18

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