鎽樿 婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄧ敱浜庡叾杓冨挤(qi谩ng)鐨勯妫掓€т互鍙婂皪(du矛)闆绘(j墨)鍙冩暩(sh霉)璁婂寲鏁忔劅搴︿綆鐗归粸(di菐n)锛屽湪鐒�(w煤)鍌虫劅鍣ㄩ﹨(q奴)鍕�(d貌ng)绯荤当(t菕ng)涓緱鍒颁簡寤ｆ硾鐨勬噳(y墨ng)鐢�銆備絾瀵�(sh铆)闅涚郴绲�(t菕ng)鐨勪笉閫ｇ簩(x霉)鎬у拰鏈夐檺鐨勬粦妯￠枊(k膩i)闂�(gu膩n)闋荤巼浠ュ強婊戞ā闁�(k膩i)闂�(gu膩n)澧炵泭閬稿彇涓嶇暥(d膩ng)浣垮緱婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄦ墍浼拌▓(j矛)閲忓瓨鍦ㄦ姈鎸晱(w猫n)椤屻€傛湰鏂囬嚌灏�(du矛)瀵�(sh铆)闅涚郴绲�(t菕ng)涓粦妯¤畩绲�(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄨ娓�(c猫)閲忓瓨鍦ㄧ殑鎶栨尟鍟�(w猫n)椤�锛屾彁鍑轰簡澶氶噸鍖栭洟鏁ｆ帶鍒朵締(l谩i)浠ｆ浛?zh猫n)楣榶(t菕ng)鐨勬粦妯¤畩绲�(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄤ腑鐨勭铏�(h脿o)鍑芥暩(sh霉)瀵�(sh铆)鐝�(xi脿n)澶氶噸鐙€鎱�(t脿i)鍒囨彌锛屾棦淇濈暀浜嗗偝绲�(t菕ng)婊戞ā鍏锋湁鐨勫劒(y艒u)榛�(di菐n)鍙堟湁鏁堟姂鍒朵及瑷�(j矛)閲忕殑鎶栨尟鐝�(xi脿n)璞�銆備豢鐪熷拰瀵�(sh铆)椹�(y脿n)绲�(ji茅)鏋滆〃鏄庤┎鏂规硶鏈夋晥鐨勬姂鍒朵簡SMO浼拌▓(j矛)閲忕殑鎶栨尟鍟�(w猫n)椤�锛屾彁楂樹簡鐒�(w煤)浣嶇疆姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)鐭㈤噺鎺у埗绯荤当(t菕ng)鐨勯亱(y霉n)琛屾€ц兘銆� 闂�(gu膩n)閸佃锛氭案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨) 鎶栨尟 闆㈡暎婊�?锛熷垈?澶氶噸鍖� Abstract Due to the robust estimation performance and low sensitivity to variation of machine parameters, SMO is widely utilized in the sensorless drive system. However, values estimated by SMO does have chattering problem because of the discontinuity and finite switching frequency of the real system. In this paper, a novel sliding mode observer is proposed to circumvent the chattering problem. A multilevel discontinuous control is applied to replace the sign function utilized in the conventional models. The method both preserves the well-known SMO features and effectively inhibits the chattering problem. Results of simulation and experiments show that the method inhibits the chattering problem effectly and enhances the performance of sensorless PMSM vector control system. Keyword: PMSM, chattering, discontinuous control of SMO锛宮ulti-level 1 寮曡█ 姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)浠ュ叾鍔熺巼瀵嗗害楂樸€佽綁(zhu菐n)鐭╂叄閲忔瘮澶у拰鏁堢巼楂樼瓑鍎�(y艒u)榛�(di菐n)瓒婁締(l谩i)瓒婂鐨勬噳(y墨ng)鐢ㄤ簬浼烘湇鎺у埗銆傛案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)鐨勭鍫�(ch菐ng)瀹氬悜鍜岀煝閲忔帶鍒剁殑瀵�(sh铆)鐝�(xi脿n)闇€瑕佽綁(zhu菐n)瀛愯綁(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃俊鎭�銆傚湪浜ゆ祦浼烘湇椹�(q奴)鍕�(d貌ng)鎺у埗涓父鐢ㄥ厜闆荤法纰煎櫒銆佹棆杞�(zhu菐n)璁婂鍣ㄥ拰闇嶇埦鍌虫劅鍣ㄤ締(l谩i)鎻愪緵杞�(zhu菐n)瀛愯綁(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃俊鎭紝浣嗘槸閫欎簺鍌虫劅鍣ㄧ殑浣跨敤澧炲姞浜嗙郴绲�(t菕ng)鐨勮不(f猫i)鐢ㄤ互鍙婄董璀�(h霉)璨�(f猫i)鐢�锛屽悓鏅�(sh铆)閭勯檷浣庝簡绯荤当(t菕ng)鐨勭┅(w臎n)瀹氭€у拰鍙潬鎬�銆傚洜姝よū澶氫及瑷�(j矛)杞�(zhu菐n)瀛愯綁(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃殑鐒�(w煤)鍌虫劅鍣ㄦ妧琛�(sh霉)寰楀埌浜嗗唬娉涚殑鐧�(f膩)灞曘€� 鏂囩嵒(xi脿n)[1]鍒╃敤瀹氬瓙绔浕澹撳拰闆绘祦鐩存帴瑷�(j矛)绠楀嚭杞�(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃�锛岄€欑ó鏂规硶瑷�(j矛)绠楃啊(ji菐n)鍠�銆佸嫊(d貌ng)鎱�(t脿i)闊挎噳(y墨ng)蹇�銆佸欢閬插皬锛屼絾闇€瑕佹簴(zh菙n)纰虹殑闆绘(j墨)鏁�(sh霉)瀛�(xu茅)妯″瀷銆傛鏂规硶闇€瑕佺祼(ji茅)鍚堝弮鏁�(sh霉)鑷鲸璀�(sh铆)渚�(l谩i)瀵�(sh铆)鐝�(xi脿n)杓冩簴(zh菙n)纰虹殑杞�(zhu菐n)瀛愯綁(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃及瑷�(j矛)锛涙枃鐛�(xi脿n)[2-3]涓噰鐢ㄩ珮闋绘敞鍏ユ硶绛夊(sh铆)鐝�(xi脿n)浜嗗皪(du矛)杞�(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃殑浼拌▓(j矛)锛岄€欑ó鏂规硶鑳藉緢濂界殑瑙ｆ焙浣庨€熷拰瓒呬綆閫熸檪(sh铆)杞�(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃及瑷�(j矛)鍟�(w猫n)椤�锛屼絾瀵�(sh铆)鐝�(xi脿n)璧蜂締(l谩i)鐩稿皪(du矛)姣旇純鍥伴洠锛屽挨鍏舵槸闆绘(j墨)浣庨€熼亱(y霉n)琛屾檪(sh铆)闈炵窔鎬у洜绱犺純鐐虹獊鍑猴紱鏂囩嵒(xi脿n)[4-6]閲囩敤鎿�(ku貌)灞曞崱鐖炬浖婵炬尝绠楁硶渚�(l谩i)浼拌▓(j矛)灏�(du矛)杞�(zhu菐n)瀛愯綁(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃�锛屼絾瑭茬畻娉曞皪(du矛)杞�(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃殑瑙€娓�(c猫)瑷�(j矛)绠楅噺澶�锛岃€屼笖姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)鍟熷嫊(d貌ng)闅庢浼拌▓(j矛)鍊兼敹鏂傚埌瀵�(sh铆)娓�(c猫)鍊肩殑寤堕伈鏁堟灉杓冨ぇ锛涙枃鐛�(xi脿n)[7]閬�(y霉n)鐢ㄧ缍�(j墨ng)缍�(w菐ng)绲�(lu貌)鐞嗚珫渚�(l谩i)瀵�(sh铆)鐝�(xi脿n)灏�(du矛)杞�(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃殑浼拌▓(j矛)锛屾椤�(l猫i)鏅鸿兘绠楁硶鐗瑰垾寰�(f霉)闆�锛屽弮鏁�(sh霉)瑷�(sh猫)瑷�(j矛)姣旇純鍥伴洠涓嶅埄浜庡(sh铆)鐝�(xi脿n)銆傛枃鐛�(xi脿n)[8-10]閬�(y霉n)鐢ㄤ簡婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄤ締(l谩i)瀵�(sh铆)鐝�(xi脿n)灏�(du矛)杞�(zhu菐n)瀛愯綁(zhu菐n)閫熷拰杞�(zhu菐n)瀛愪綅缃殑浼拌▓(j矛)锛屽彲浠ョ湅鍑鸿┎绠楁硶榄鎬у挤(qi谩ng)锛屽皪(du矛)闆绘(j墨)鍙冩暩(sh霉)璁婂寲鐨勬晱鎰熷害浣�?锛涱儫锛峰厴Y(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄥ彧鏈夊湪闆㈡暎绯荤当(t菕ng)闁�(k膩i)闂�(gu膩n)闋荤巼鐐虹劇(w煤)绐ぇ鏅�(sh铆)鎵嶈兘澶犻仈(d谩)鍒扮悊璜栦笂鐨勬晥鏋溿€傚(sh铆)闅涗笂锛屾湁闄愮殑闁�(k膩i)闂�(gu膩n)闋荤巼鍜岀浉灏�(du矛)鐞嗘兂鐙€鎱�(t脿i)涓嬭純浣庣殑閲囨ǎ闋荤巼閮芥渻(hu矛)浣跨郴绲�(t菕ng)浼拌▓(j矛)閲忓嚭鐝�(xi脿n)鎶栨尟鐝�(xi脿n)璞�锛屽叾涓粦妯￠枊(k膩i)闂�(gu膩n)澧炵泭閬稿彇涓嶇暥(d膩ng)鏄嚭鐝�(xi脿n)鎶栨尟鐝�(xi脿n)璞℃渶涓昏鐨勫師鍥�銆� 鏈枃閫氶亷(gu貌)灏�(du矛)婊�?锛熷垈鑿╃洏?h脿o)鐨勫閲嶅寲锛屾笡灏忎簡婊戞ā闁�(k膩i)闂�(gu膩n)澧炵泭瀵�(sh铆)鐝�(xi脿n)澶氶噸鍒囨彌鐙€鎱�(t脿i)寰炶€屾湁鏁堝湴鎶戝埗浜嗘粦妯¤畩绲�(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄤ及瑷�(j矛)閲忕殑鎶栨尟鍟�(w猫n)椤�銆傛枃涓墍杩扮殑婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄥ湪鍩轰簬DSP2812姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)鏁�(sh霉)瀛楁帶鍒剁郴绲�(t菕ng)涓(sh铆)鐝�(xi脿n)銆備豢鐪熷拰瀵�(sh铆)娓�(c猫)绲�(ji茅)鏋滈(y脿n)璀変簡鏈枃鎻愬嚭閫欑ó鏂板瀷婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄧ殑鏈夋晥鎬�銆� 2 澶氶噸鍖栭洟鏁ｆ帶鍒剁殑婊戞ā瑙€娓�(c猫)鍣� 2.1 姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷 2.2 鍌崇当(t菕ng)婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣� 鍩轰簬锛�1锛夊紡锛屾粦妯¤畩绲�(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄥ彲妲�(g貌u)閫犵偤锛� 涓€鑸締(l谩i)瑾�(shu艒)锛屾粦鍕�(d貌ng)妯℃厠(t脿i)鍦ㄩ倧杓垏鎻涙檪(sh铆)鑸囧垏鎻涢潰褰㈡垚鐨勫崁(q奴)鍩熻秺灏忚秺鏈夊埄鐢ㄤ娇瀵�(sh铆)闅涢亱(y霉n)鍕�(d貌ng)瓒ㄨ繎浜庣悊鎯虫粦妯￠亱(y霉n)鍕�(d貌ng)銆傞倧杓垏鎻涜垏鍒囨彌闈㈠舰鎴愮殑鍗€(q奴)鍩�?q奴)鎸鹃箠娣栫暡绗炬钉鍛粁鏁ｆ帶鍒剁殑闋荤巼浠ュ強瀹冪殑闁�(k膩i)闂�(gu膩n)澧炵泭鍏卞悓姹哄畾銆傛甯告儏娉佷笅锛屽彧闇€瑕佺⒑瀹氬叏閫熻寖鍦嶅収(n猫i)婊戞ā闁�(k膩i)闂�(gu膩n)澧炵泭鍊�锛屼娇婊戞ā閬�(y霉n)鍕�(d貌ng)绌�(w臎n)瀹氶亱(y霉n)琛�銆備絾鏄娓�(c猫)閲忕殑鎶栨尟鑼冨湇闅ㄨ憲閬�(y霉n)琛屾浠朵笉鍚岃€岃畩鍖�銆傜暥(d膩ng)闆绘(j墨)閬�(y霉n)琛屽湪浣庨€熸檪(sh铆)锛屽浐瀹氶枊(k膩i)闂�(gu膩n)闋荤巼涓嬬浉灏�(du矛)杓冨ぇ鐨勯枊(k膩i)闂�(gu膩n)澧炵泭鍙兘浣垮緱瀹氬瓙闆绘祦鐨勪及瑷�(j矛)瑾ゅ樊璁婂ぇ銆� 寰炰笂鍦栧彲鐪嬪嚭婊戞ā闆㈡暎鎺у埗閫氬父鍙湁鍏╃ó鐙€鎱�(t脿i)銆� 鍗€(q奴)鍩熷収(n猫i)绯荤当(t菕ng)鏄窔鎬ч€ｇ簩(x霉)鐨�锛涚劧鑰屽嵒涓嶈兘閫�(j矛n)涓€姝ラ(y脿n)璀夋槸鍚︽敹鏂備簬闆�銆� 2.3 澶氶噸鍖栨帶鍒舵粦妯¤畩绲�(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣� 鎶婏紙3锛夊紡鍖栫偤闆㈡暎鍖栧舰寮忓彲寰楋細 2.4 鍩轰簬婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄧ殑姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)鐭㈤噺鎺у埗绯荤当(t菕ng) 鍦�2鐐虹劇(w煤)浣嶇疆鍌虫劅鍣ㄦ案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)鐭㈤噺鎺у埗椹�(q奴)鍕�(d貌ng)绯荤当(t菕ng)锛岀郴绲�(t菕ng)鍖呮嫭涓€鍊�(g猫)杞�(zhu菐n)閫熷鐠�(hu谩n)鍜屽叐鍊�(g猫)闆绘祦鍏�(n猫i)鐠�(hu谩n)浠ュ強鏈枃鎻愬嚭鐨勮嚜閬╂噳(y墨ng)婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣�銆傛澶栦篃鍖呭惈鍌崇当(t菕ng)鐭㈤噺鎺у埗閮ㄥ垎锛欳lark銆丳ark璁婃彌鍜屽畠鍊戠殑鍙嶈畩鎻�锛孲VPWM妯″浠ュ強涓夌浉闆诲婧愰€嗚畩鍣ㄥ拰姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)銆傝綁(zhu菐n)瀛愪綅缃€氶亷(gu貌)婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄤ締(l谩i)浼拌▓(j矛)寰楀埌锛岀煝閲忔帶鍒堕噰鐢↖d=0鐨勬帶鍒剁瓥鐣�銆� [align=center] 鍦�2 绯荤当(t菕ng)鎺у埗妗嗗湒 Fig2 The structure block diagram of control system[/align] 3 瀵�(sh铆)椹�(y脿n)鑸囧垎鏋� 姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)鐨勪富瑕佸弮鏁�(sh霉)鐐猴細瀹氬瓙闆婚樆0.4惟锛屼氦銆佺洿杌搁浕鎰�8.6mH锛屾サ灏�(du矛)鏁�(sh霉)4锛屾案纾侀珨0.213Wb锛岄瀹氬姛鐜�600W,椤嶅畾杞�(zhu菐n)鐭�2.5 N•m锛岄瀹氳綁(zhu菐n)閫�3000rpm銆傜郴绲�(t菕ng)鐨勯噰妯ｉ牷鐜囩偤10kHz锛屾瘝绶氶浕澹撶偤310V锛屾渶澶х浉闆绘祦鐐�5.8A銆傛澶�锛岄噰鐢�2500-pulse澧為噺寮忕⒓鐩�(p谩n)鐢ㄤ締(l谩i)娓�(c猫)閲忓垵濮嬭綁(zhu菐n)瀛愭牎姝ｈ搴�銆� 鍦�2鍜屽湒3鍒嗗垾鐐烘案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)杞�(zhu菐n)閫熺偤250rpm鏅�(sh铆)锛岄浕鍕�(d貌ng)姗�(j墨)绌鸿級鍜屾豢杓夌殑浠跨湡绲�(ji茅)鏋�銆� [align=center] 鍦�2 澶氶噸鍖栨粦妯¤娓�(c猫)鍣ㄧ殑浠跨湡瀵�(sh铆)椹�(y脿n)绲�(ji茅)鏋� Fig2 Simulation results of Multi-Level SMO : no load. 鍦�3 澶氶噸鍖栨帶鍒舵粦妯¤娓�(c猫)鍣ㄧ殑浠跨湡瀵�(sh铆)椹�(y脿n)绲�(ji茅)鏋� Fig3 Simulation results of Multi-Level controlSMO : 2.5-Nm load.[/align] 鍦�4鍜屽湒5 鍒嗗垾鐐烘案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)杞�(zhu菐n)閫熺偤250rpm鏅�(sh铆)锛屾案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)绌鸿級鍜屾豢杓夌殑瀵�(sh铆)椹�(y脿n)绲�(ji茅)鏋�銆� [align=center] 锛坆锛� 锛坉锛� 鍦�4 澶氶噸鍖栨帶鍒舵粦妯¤娓�(c猫)鍣ㄧ┖杓夊(sh铆)椹�(y脿n)绲�(ji茅)鏋�: 锛坅锛夌⒓鐩�(p谩n)娓�(c猫)閲忎俊铏�(h脿o);锛坆锛塖MO浼拌▓(j矛)淇¤櫉(h脿o) 锛坈锛� 杌镐笂婊�?锛熷垈鑿╃洏?h脿o)锛涳紙d锛� 杌镐笂婊戞ā鎺у埗淇¤櫉(h脿o) Fig4 Experimental results of Multi-Level control SMO:no load 锛坅锛塻ignal measured by encoder; 锛坆锛塻ignal estimated by SMO 锛坈锛塻tationary- axis sliding control; 锛坉锛塻tationary- axis sliding control 锛坆锛� 锛坉锛� 鍦�5 澶氶噸鍖栨帶鍒舵粦妯¤娓�(c猫)鍣ㄦ豢杓夊(sh铆)椹�(y脿n)绲�(ji茅)鏋�: 锛坅锛夌⒓鐩�(p谩n)娓�(c猫)閲忎俊铏�(h脿o)锛涳紙b锛塖MO浼拌▓(j矛)淇¤櫉(h脿o) 锛坈锛� 杌镐笂婊�?锛熷垈鑿╃洏?h脿o)锛涳紙d锛� 杌镐笂婊戞ā鎺у埗淇¤櫉(h脿o) Fig5 Experimental Results of Multi-Level SMO:full load 锛坅锛塻ignal measured by encoder;锛坆锛塻ignal estimated by SMO 锛坈锛塻tationary- axis sliding control;锛坉锛塻tationary- axis sliding control[/align] 寰炰豢鐪熺祼(ji茅)鏋滅湅鍑猴紝鐒�(w煤)璜栨案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)绌鸿級閭勬槸婊胯級锛屽墠0.05绉掑収(n猫i)浼拌▓(j矛)杞�(zhu菐n)瀛愪綅缃垏瀵�(sh铆)娓�(c猫)杞�(zhu菐n)瀛愪綅缃瓨鍦ㄨ純澶ц宸�锛岄€欐槸鍥�?y脿n)娈″Ρ?d貌ng)姗�(j墨)鍓涘暉鍕�(d貌ng)鏅�(sh铆)杞�(zhu菐n)閫熻純浣�锛屽弽闆诲嫝(sh矛)杓冨皬灏�(d菐o)鑷碨MO浼拌▓(j矛)閲忓亸闆㈠(sh铆)闅涘€�銆傚暉鍕�(d貌ng)绲�(ji茅)鏉熷悗鐢变簬鍙嶉浕鍕�(sh矛)瓒冲澶э紝鎵€浠MO浼拌▓(j矛)鐨勮綁(zhu菐n)瀛愪綅缃垏瀵�(sh铆)娓�(c猫)鍊煎咕涔庢矑(m茅i)鏈夎宸€傚(sh铆)椹�(y脿n)涓紝闆绘(j墨)杌稿瓨鍦ㄦ(j墨)姊版懇鎿︿娇寰楅浕姗�(j墨)鍟熷嫊(d貌ng)鏅�(sh铆)杞�(zhu菐n)閫熶笂鍗囪純浠跨湡鎱紝浣嗕及瑷�(j矛)杞�(zhu菐n)瀛愪綅缃稉(j墨ng)閬�(gu貌)涓€鍊�(g猫)闆诲懆鏈熷悗鑸囩⒓鐩�(p谩n)瀵�(sh铆)娓�(c猫)杞�(zhu菐n)瀛愪綅缃宸緢灏�銆傚悓鏅�(sh铆)锛屽湪姘哥闆诲嫊(d貌ng)姗�(j墨)绌鸿級鍜屾豢杓夌殑鎯呮硜涓嬬劇(w煤)璜栦豢鐪熼倓鏄(sh铆)椹�(y脿n)锛屾粦妯¤娓�(c猫)鍣ㄤ及瑷�(j矛)鍑虹殑闆诲嫊(d貌ng)姗�(j墨)杞�(zhu菐n)瀛愪綅缃拰鍏╃浉闈滄鍧愭(bi膩o)杌镐笂鐨勬粦妯℃帶鍒朵俊铏�(h脿o)鏇茬窔閮介潪甯稿钩婊�锛屾湁鏁堝湴娑堥櫎浜嗘姈鎸従(xi脿n)璞�锛岄€欏厖鍒嗛(y脿n)璀変簡鏈枃鎻愬埌鐨勬粦妯¤娓�(c猫)鍣ㄧ殑澶氶噸鍖栨帶鍒跺彲琛屾€у拰鏈夋晥鎬�銆� 4 绲�(ji茅)璜� 鏈枃鍦ㄥ偝绲�(t菕ng)婊戞ā璁婄祼(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄦ案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)鐭㈤噺鎺у埗鐨勫熀绀�(ch菙)涓婏紝鎻愬嚭浜嗕竴绋閲嶅寲鎺у埗鐨勬粦妯¤畩绲�(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣�銆傝┎鏂规硶浼拌▓(j矛)鍑虹殑杞�(zhu菐n)瀛愯搴︽洸绶氭洿骞虫粦銆佹洿婧�(zh菙n)纰猴紝灏ゅ叾鏄湪甯惰級姊濅欢涓嬶紝鍚屾檪(sh铆)涔熶繚鐣欎簡鍌崇当(t菕ng)婊戞ā瑙€娓�(c猫)鍣ㄩ妫掓€у挤(qi谩ng)绛夊劒(y艒u)榛�(di菐n)銆傛湰鏂囨彁鍑虹殑澶氶噸鍖栨粦妯¤娓�(c猫)鍣ㄥ凡鎴愬姛鍦扮敤浜庢案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)鐭㈤噺鎺у埗涓�銆傜敱涓婅堪浠跨湡鍜屽(sh铆)椹�(y脿n)绲�(ji茅)鏋滈(y脿n)璀変簡澶氶噸鍖栨帶鍒舵粦妯¤畩绲�(ji茅)妲�(g貌u)瑙€娓�(c猫)鍣ㄧ殑姝ｇ⒑鎬у拰鏈夋晥鎬�銆� 鍙冭€冩枃鐛�(xi脿n) [1] Malakondaiah Naidu,Bimal.Bose. Rotor Position Estimation Scheme of a Permanent Magnet Synchronous Machine for High Performance Variable Speed Drive[J].Industry Applications Society Annual Meeting,1992,锛�1锛�:48-53. [2]Jung-lk Ha; Seung-Ki Sul. Sensorless field-orientation control of an induction machine by high-frequency signal injection[J].Industry Applications, IEEE Transactions on Volume35, Issue 1,Jan-Feb,1999 Page锛坰锛�:45-51. [3] 璩堟椽骞�锛岃硛鐩婂悍?锛涱媱璇熷摮l娉ㄥ叆娉曠殑姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)杞�(zhu菐n)瀛愬垵濮嬩綅缃娓�(c猫)鐮旂┒[J].涓湅(gu贸)闆绘(j墨)宸ョ▼瀛�(xu茅)鍫�(b脿o)[J]锛�2005锛�27锛�15锛�:15-20. Jia Hong Ping,He Yi Kang.Study on Inspection of the Initial Rotor Position of a PMSM Based on High-frequency Signal Injection[J],Proceedings of the Chinese Society for Electrica Engineering , 2005 , 27锛�15锛� : 5 - 20 . [4] Zhuang xu, Rahman M.F. An Extended Kalman Filter Observer for the Direct Torque Controlled Interior Permanent Magnet Synchronous Motor Driver. Power Electronics and Drive Systems[J],PEDS 2003,1:686-691. [5] HEN-GEUL YEH.Real-Time Implementation of a Narrow-Band Kalman Filter With a Floating-Point Processor DSP32[J].Industrial Electronics ,IEEE Transaction on Volume 37,Issue 1,February 1990,Page锛坰锛�:13-17. [6]Rached Dhaouadi, Ned Mohan, Lars Norum. Design and Implementation of an Extended Kalman Filter for the State Estimation of a Permanent Magnet Synchronous Motor[J]. Power Electronics, IEEE Transactions on Volume 6,Issue 3,July 1991,Page锛坰锛�:491-497. [7]鏉庨椿鍎�锛岄¨妯�(sh霉)鐢�?锛涱媱璋忕獱?j墨ng)缍�(w菐ng)绲�(lu貌)鐨凱MSM閫熷害鍜屼綅缃嚜閬╂噳(y墨ng)瑙€娓�(c猫)鍣ㄧ殑瑷�(sh猫)瑷�(j矛)[J]銆備腑鍦�(gu贸)闆绘(j墨)宸ョ▼瀛�(xu茅)鍫�(b脿o)锛�2002锛�22锛�12锛�:32-35銆侺i Hong Ru, Gu Shu Sheng. Neural-Network-Based Adaptive observer of Position And Speed of PMSM[J]. Proceedings of the Chinese Society for Electrical Engineering,2002,22锛�12锛�:32-35. [8]鍚虫槬鑿�锛岄櫝鍦�(gu贸)鍛堬紝瀛壙娉�銆傚熀浜庢粦妯¤娓�(c猫)鍣ㄧ殑鐒�(w煤)鍌虫劅鍣ㄦ案纾佸悓姝ラ浕鍕�(d貌ng)鍙婄煝閲忔帶鍒剁郴绲�(t菕ng)[J]锛岄浕宸ラ浕鑳芥妧琛�(sh霉)锛�2006锛�25锛�2锛�:1-3銆俉u Chun Hua, Chen Guo Chen, Sun Cheng Bo. PMSM Sensorless Vector Control Based on Sliding Mode Observer[J]. Advanced Technology of Electrical Engineering and Energy,2006,25锛�2锛�:1-3. [9]Vadim Utkin,J. Guldner and Jingxin shi, Sliding mode control in electromechanical systems,1st ed,Taylor&Francis,1999. [10]Z.M.Peixoto,et al,鈥漇peed control of permanent magnet motors using sliding mode observers for induced emf,position and speed estimation,鈥� in Conf. Rec. IEEE 鈥� IAS Annu . Meeting , Vol . 2,1995,pp.1023-1028. 浣滆€呯啊(ji菐n)浠嬶細 榫愭郡锛�1981-锛夌敺锛岀ⅸ澹紝涓昏鐮旂┒鏂瑰悜锛氬緸浜嬫案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)鐭㈤噺鎺у埗鐒�(w煤)閫熷害鍌虫劅鍣ㄦ柟闈㈢殑鐮旂┒銆� 寰愬／锛�1972-锛夌敺锛屽壇鏁欐巿锛屼富瑕佺爺绌舵柟鍚戯細 IPM鐒�(w煤)閫熷害鍌虫劅鍣ㄧ洿鎺ヨ綁(zhu菐n)鐭╂帶鍒�锛孖PM闆绘(j墨)鐨勭劇(w煤)鍌虫劅鍣ㄨ秴浣庨€熼亱(y霉n)琛�锛屽厗鐡︾礆(j铆)姘哥鐩撮﹨(q奴)棰�(f膿ng)鍔涚櫦(f膩)闆荤郴绲�(t菕ng)鎺у埗鐮旂┒锛屾贩鍚堥浕鍕�(d貌ng)杌�(ch膿)鐨�42V PowerNet ISA 绯荤当(t菕ng)涓柊鍨婭PM闆绘(j墨)鐨勮ō(sh猫)瑷�(j矛)鍙奪-婧愰洐鍚戣畩鎻涘櫒鐨勭爺绌�銆� 鑱�(li谩n)绯诲湴鍧€锛氬搱鐖炬勘宸ユキ(y猫)澶у(xu茅)涓€鏍″崁(q奴)11鍏瘬611-2銆� 鑱�(li谩n)绯婚浕瑭憋細13654583125