电工技术学报2025，Vol.40Issue(8)：2488-2503,16.DOI:10.19595/j.cnki.1000-6753.tces.240590
扩展卡尔曼观测器下的永磁同步电机负载扰动抑制研究
Research on Load Disturbance Suppression Technology of Permanent Magnet Synchronous Motor under Extended Kalman Filter
摘要
Abstract
Regarding the sensorless control system of permanent magnet synchronous motors(PMSM),this paper combines extended Kalman filtering(EKF)and improved inertial active disturbance rejection control(IADRC).By establishing a mathematical model under the new coordinate system and applying the EKF algorithm,the state of the motor is accurately estimated,thus ensuring the accuracy and stability of the control system.Aiming at the current harmonic disturbance caused by the sudden load change,this paper introduces the second-order oscillation function to optimize the traditional linear active disturbance rejection control and proposes an improved IADRC strategy,which significantly attenuates the harmonic disturbances and strengthens the system's immunity to disturbances. According to the traditional mathematical model of the PMSM motor under the γδ-axis,the mathematical model of the PMSM motor under the estimated rotational coordinate system γδ is constructed,and the angle eθγ between the dq-axis and the γδ-axis is directly estimated,eliminating the influence of the other observers.After that,through the mutual validation of simulation and the mathematical model,the second-order oscillating function is connected in parallel to suppress current harmonics.The 3rd,5th,and 7th periodic harmonics with high harmonic contents are suppressed.Its effectiveness and stability are proved by Bode's plot and the Nyquist curve plot,respectively. The EKF's direct estimation method of error angle eθγ in γδ coordinate system is verified Through simulation and experiment,speed step,sudden load addition,and starting with rated load.Meanwhile,compared with the traditional PI control and LADRC control,IADRC plays a role in suppressing the low harmonics when the motor is running stably at 1 000 r/min with rated load.The 5th and 7th harmonic contents are reduced by 50.5%and 77.4%compared to PI.The IADRC algorithm based on the LADRC algorithm can suppress specific harmonics,with a 41.3%reduction in 5th harmonic content compared to the LADRC and a 49.4%reduction in 7th harmonic content compared to the PI.Comparative analysis of the three-phase currents after a sudden change in the rated load shows that compared to PI,the 5th harmonic content of the LADRC is reduced by 70.5%,the 7th harmonic content is reduced by 79.1%,and the 3rd harmonic content is reduced by 54.8%.Meanwhile,compared to LADRC,the 5th harmonic decreases by 44%,the 7th harmonic decreases by 13%,and the 3rd harmonic decreases by 88%.关键词
永磁同步电机/惯性自抗扰控制/扩展卡尔曼滤波器/电流谐波/新坐标系Key words
Permanent magnet synchronous motor/inertial active disturbance rejection control/extended Kalman filter/current harmonics/a new coordinate system分类
信息技术与安全科学引用本文复制引用
刘栋良,赵金洋,董旭辉,陈黎君,王晓啸..扩展卡尔曼观测器下的永磁同步电机负载扰动抑制研究[J].电工技术学报,2025,40(8):2488-2503,16.基金项目
国家自然科学基金资助项目(52477185). （52477185）
