论文标题
永久磁铁同步电动机的非线性比例积分扰动观察者和运动控制技术
A Nonlinear Proportional Integral Disturbance Observer and Motion Control Technique for Permanent Magnet Synchronous Motors
论文作者
论文摘要
在本文中，我们介绍了一个非线性偏差积分器（N-PI）干扰观察者（DOB），以增强在迅速变化的区域中表面安装的永久磁铁同步电动机（SPMSM）性能的运动跟踪。通过使用扭矩调制技术呈现N-PI-DOB，用于负载扭矩估计，我们表明，角位置/速度的跟踪误差动力学与电流循环的跟踪误差和估计误差相结合。在分析了跟踪误差动态电流的干扰后，我们设计了基于N-PI-DOB和Lyapunov的非线性电流控制器，以增强运动跟踪性能。使用这些N-PI-DOB和运动控制器，我们分析了运动跟踪误差动态和估计误差动态的稳定性。我们通过/没有N-PI-DOB进行实验性进行比较研究，以在未知的载荷扭矩和快速变化的情况下验证所提出的方法的有效性。
In this paper, we present a Nonlinear-Proportional Integrator (N-PI) disturbance observer (DOB) to enhance the motion tracking of the performance of a surface-mounted Permanent Magnet Synchronous Motor (SPMSM) in rapidly speed varying regions. By presenting an N-PI-DOB for load torque estimation with torque modulation technique, we show that the tracking error dynamics of angular position/velocity are coupled with tracking errors of currents loop and estimation errors. After analyzing disturbances of currents tracking error dynamics, we design the N-PI-DOB and Lyapunov-based nonlinear currents controller to enhance the motion tracking performances. With these N-PI-DOBs and motion controllers, we analyze the stability of motion tracking error dynamics and estimation error dynamics. We experimentally perform a comparative study with/without the N-PI-DOB to verify the effectiveness of the proposed method in the condition of the unknown load torque and rapidly speed-varying.
