摘要
为了解决永磁同步电机定子电阻变化对速度观测的影响,利用α-β坐标系下永磁同步电机非线性系统模型,引入H_∞鲁棒滤波算法增强观测器鲁棒性。为了解决sigma点计算量大的问题,采用超球体单形采样方法,提出一种新的非线性滤波器。最后设计了H_∞鲁棒球形无迹卡尔曼滤波观测器对永磁同步电机转速进行状态观测。当永磁同步电机定子电阻变化时,对比分析了H_∞鲁棒球形无迹卡尔曼滤波器与无迹卡尔曼滤波器、球形无迹卡尔曼滤波器在相同系统噪声和量测噪声时电机转速误差方差。H_∞鲁棒球形卡尔曼滤波器的转速误差方差接近7rad/min,明显小于后两者观测器观测值(40、20rad/min)。
In order to solve the influence of stator resistance variation of permanent magnet synchronous motor on velocity measurement,by using a nonlinear system model of permanent magnet synchronous motor inα-βcoordinate,the H∞robust filtering algorithm is introduced to enhance the robustness of the observer.To solve problem of large calculating number of sigma points,a new nonlinear filter is proposed using the method of single sampling of the sphere.A H∞ robust spherical unscented Kalman filter observer is designed to observe the velocity state of the permanent magnet synchronous motor.When the permanent magnet synchronous motor stator resistance changes,the motor velocity error variances of the H∞ robust spherical unscented Kalman filter,unscented Kalman filter and spherical unscented Kalman filter are compared and analyzed under the same system noiseand measurement noise.The speed error variance of the H∞ robust spherical unscented Kalman filter observer is close to 7rad/min,which is much less than that of the other two observers,which are close to 40rad/min and 20rad/min respectively.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2016年第4期1017-1022,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
'973'国家重点基础研究发展计划项目(2011CB711200)
关键词
车辆工程
转速观测
非线性滤波
永磁同步电机
vehicle engineering
speed observation
nonlinear filter
permanent magnet synchronous motor（PMSM）
