【摘要】 电动力鱼雷推进电机在运行过程中环境温度不断地变化,由此而引起电机参数(包括电阻、电感及永磁体等)的变化会对位置/速度伺服性能造成不确定性影响,在线参数辨识成为提高控制性能的重要方法。提出了一种无刷直流电机的离散化递推可辨识模型,该模型以无刷直流电机的全微分方程为基础,以定、转子的相对位置构造反电势位置函数,推导了逆变器输出电压与电机相电压关系,辨识中输入量为逆变器端口电压、电流及电机转速信号,输出为定子电阻、电感、转动惯量及与负载有关的参量。基于该模型的最小二乘辨识法原理简单,运算量小,实时性高,适用范围广。特别是无需特定的激励源,仅仅采用PWM激励源就可以得到理想的辨识效果,避免了伪随机序列激励对系统运行造成的影响。更多还原

【Abstract】 The torpedo propulsion BLDCM’s parameters(such as resistor,inductor,magnet flux,etc) are varying with the changing ambient temperature;this usually makes the control system uncertain;the on-line identification of key parameters is the major method for improving the control performance.We,using the differential equations of propulsion BLDCM,modify the on-line parameter identification model;in this modified model,the EMF calculation is based on a kind of position function relating the instant stator and rotor locations in space.This modified identification model is only related to the voltage,current,rotor velocity sensed from the drive system.This identification model is simple,requires moderate amount of calculation and satisfies real time requirement.Particularly this proposede method needs only pulse width modulation(PWM) excitation,thus avoiding the influence of M sequence excitation on the system operation.更多还原