重庆理工大学学报2025，Vol.39Issue(7)：190-199,10.DOI:10.3969/j.issn.1674-8425(z).2025.04.024
改进LESO的永磁轮毂电机无位置传感器控制
Sensorless control of permanent magnet hub motor based on improved LESO
摘要
Abstract
With the rapid development of electric vehicles,the driving mode is changing from centralized,wheel-side drive to hub drive.The hub motor drive system installs components such as motors,reducers,drive controllers and position sensors into the wheel rim.It garnered keen interest from the industry and academia due to its compact structure,efficient transmission and flexible control.However,under harsh working conditions,such as bumpy roads,wading,strong electromagnetic interference,position sensors are susceptible to failure,which in turn affects the stability of the electric vehicles.Therefore,a position sensorless control method is used to measure the rotor position,speed and other information of the permanent magnet hub motor,thereby overcoming the liminations of traditional position sensors and contributing significantly to the research on distributed electric vehicle drive systems. Currently,sensorless control strategies are divided into two categories according to the different motor operating speeds:methods based on motor salient pole characteristics in the zero and low speed operating range and those based on fundamental wave models in the medium and high speed operating range.The former ones inject an additional high-frequency voltage or current signal to instantaneously excite the permanent magnet synchronous motor,in which the motor fundamental frequency signal and the injected high-frequency signal response are easily separated,and the rotor position information has a high signal-to-noise ratio,and the rotor speed and position is accurately estimated at zero speed and low speed.For the latter ones,the speed and position information is indirectly detected by estimating the back electromotive force or stator flux,which is roughly divided into extended Kalman filter,model reference adaptive method,sliding mode observer,and extended state observer.The extended Kalman filter achieves high accuracy and good adaptability,but is limited by the high computational burden.The estimation performance of the model reference adaptive method is sensitive to the changes in motion parameters.The sliding mode observer is widely used due to its simple structure and strong robustness,but the inevitable jitter problem affects the steady-state control performance. In view of the traditional linear extended state observer,its low-pass filter characteristics are not enough to track the rapidly changing back-EMF,which causes the estimated back-EMF amplitude loss and phase deviation.Thus,this paper proposes a sensorless control algorithm for permanent magnet hub motor with improved linear extended state observer.The reduced-order quasi-resonant controller is implanted into the internal model of the traditional linear extended state observer.The back-EMF without amplitude attenuation and phase is obtained at different speeds,and the rotor position and speed of the permanent magnet hub motor are accurately estimated,thereby improving the reliability of the position sensorless control algorithm of the permanent magnet hub motor during speed regulation and sudden load addition and subtraction.Simulation results show compared with the traditional LESO,the speed estimation error of the algorithm is 2.3 r/min and the position estimation error is only 0.4° in a wide speed range.Meanwhile,it has strong robustness and anti-interference capabilities under load changes and parameter mismatch.关键词
线性扩张观测器/永磁轮毂电机/无位置传感器控制Key words
electric vehicles/linear extended state observer/permanent magnet hub motor/sensorless control分类
交通工程引用本文复制引用
潘公宇,晋恩荣..改进LESO的永磁轮毂电机无位置传感器控制[J].重庆理工大学学报,2025,39(7):190-199,10.基金项目
国家自然科学基金项目(52072157) （52072157）
