【摘要】 采用滑模观测器原理,结合αβ坐标系对无刷直流电机非线性方程进行线性化,并根据电机的定子相电压和电流对电机的转子位置和转速进行了实时的在线估计。针对算法中低通滤波器输出中含有高次谐波问题,对算法进行了改进,将低通滤波器的输出接入具有推广卡尔曼结构的反电动势观测器,同时对电机负载转矩的扰动影响进行了实验研究。仿真和实验验证表明,该控制系统设计合理,并且具有很好的鲁棒性。更多还原

【Abstract】 The theory of sliding mode observer is described in detail.The nonlinear equation of motor driver are linearized using αβ reference frame.Real-time online estimations of motor rotor position and speed are done in terms of the terminal voltage and phase current of the motor driver.To solve the problem that it is not very perfect to estimate e.m.f with low-pass filter,the arithmetic is modified.It is innovative to put the output of low-pass filter behind the e.m.f observer which has the structure of Extended Kalman Filter(EKF).By simulation shows that e.m.f observer filtrates much better and has good robustness.更多还原