中国农机化学报2026，Vol.47Issue(3)：112-118,7.DOI:10.13733/j.jcam.issn.2095-5553.2026.03.016
植保机器人小电容驱动永磁同步电机控制研究
Research on the control of small capacitor-driven permanent magnet synchronous motor for plant protection robot
摘要
Abstract
For the sensorless control of permanent magnet synchronous motors(PMSM)in small-capacitance drive systems,this study addresses the reduced observation accuracy typically encountered with sliding mode observers(SMO).To mitigate the adverse effects introduced by the small-capacitance structure,a harmonic self-cancellation filtering method based on synchronous rotating coordinate systems was proposed.The second-order generalized integrator(SOGI)was employed to suppress the high-frequency chattering inherent in conventional SMOs,while the harmonic component itself was used as a filtering carrier to separate the back electromotive force from double-frequency harmonics.By applying trigonometric logic operations,the interference of second-order harmonics on rotor position estimation was effectively suppressed.Simulation results showed that the improved sliding mode observer significantly improved rotor position estimation accuracy:the speed error was reduced from-4 to 7 r/min(traditional method)to-2 to 3 r/min,and rotor position fluctuation decreased from-0.19 to 0.17 rad to-0.11 to 0.03 rad.These findings indicate that the proposed harmonic self-cancellation filtering strategy can effectively eliminates interference caused by small-capacitance drive systems,thereby improving the dynamic response and control accuracy of PMSM-based plant protection robot systems.关键词
植保机器人/永磁同步电机/小电容驱动系统/滑模观测器Key words
plant protection robot/permanent magnet synchronous motor/small capacitor drive system/sliding mode observer分类
信息技术与安全科学引用本文复制引用
周欢,龚俊杰,段璐瑶,李伟..植保机器人小电容驱动永磁同步电机控制研究[J].中国农机化学报,2026,47(3):112-118,7.基金项目
江苏省科技计划项目(BY20231080) （BY20231080）
江苏省高等教育教改研究课题(2023JSJG576) （2023JSJG576）
