Urbanski Konrad, Janiszewski Dariusz
Institute of Control, Robotics and Information Engineering, Poznan University of Technology, PL60965 Poznan, Poland.
Sensors (Basel). 2019 Aug 14;19(16):3546. doi: 10.3390/s19163546.
This paper describes the study and experimental verification of sensorless control of permanent magnet synchronous motors with a high precision drive using two novel estimation methods. All the studies of the modified Luenberger observer, reference model, and unscented Kalman filter are presented with algorithm details. The main part determines trials with a full range of reference speeds with a special near-zero speed area taken into account. In order to compare the estimation performances of the observers, both are designed for the same motor and control system and run in the same environment. The experimental results indicate that the presented methods are capable of tracking the actual values of speed and motor position with small deviation, sufficient for precise control.
本文描述了采用两种新颖估算方法对具有高精度驱动的永磁同步电机进行无传感器控制的研究及实验验证。给出了改进的龙伯格观测器、参考模型和无迹卡尔曼滤波器的所有研究，并详细说明了算法。主要部分确定了在考虑特殊近零速区域的情况下，在全范围参考速度下进行的试验。为了比较观测器的估算性能，两者针对同一电机和控制系统进行设计，并在相同环境下运行。实验结果表明，所提出的方法能够以小偏差跟踪速度和电机位置的实际值，足以实现精确控制。
