【目的】为了克服传统内置式永磁同步电机(IPMSM)无位置传感器控制在全速域范围内的技术瓶颈，本文致力于研究一种能够在全速域范围内实现稳定控制的无位置传感器控制策略。具体而言，旨在解决低速段转速和角度信息观测精度不足、中高速段系统抖振明显以及速度切换过程中稳定性差等技术难题，从而实现从低速到中高速段的无位置传感器平滑切换控制。【方法】本文提出了一种基于多模态观测器的全速域无位置传感器控制策略。在低速段，采用改进型高频方波注入法，通过考虑交叉耦合效应的影响，建立精确的电机数学模型，有效提取转子位置信息;在中高速段，设计了一种新型滑模观测器，通过优化切换函数和引入边界层方法，显著降低了系统抖振。为实现低速到高速段的平滑过渡，创新性地提出了基于模糊逻辑的加权切换算法，通过实时调整权重系数，确保切换过程的连续性和稳定性。【结果】在低速段(0~5%额定转速)，改进型高频方波注入法可将位置观测误差控制在±0.05 rad以内，说明采用考虑交叉耦合效应的高频方波注入法能够有效观测电机转速和角度信息;在中高速段(5%~100%额定转速)，引入能降低系统抖振的滑模观测器实现无位置控制，新型滑模观测器使系统抖振幅值降低约60%;采用加权切换算法后，速度切换过程中的转矩波动减小了45%，转速超调量控制在2%以内。与传统方法相比，所提方案在全速域范围内的控制精度提高了30%以上，动态响应速度提升了25%。【结论】本文提出的全速域无位置传感器控制策略有效解决了IPMSM在全速域范围内的控制难题。改进型高频方波注入法显著提升了低速段的观测精度，新型滑模观测器有效抑制了中高速段的系统抖振，而基于模糊逻辑的加权切换算法则实现了速度段的平滑过渡。仿真和试验结果充分证明了该方案在全速域范围内的可行性和优越性，为IPMSM无位置传感器控制的实际应用提供了新的解决方案。

[Objective] To overcome the technical limitations of traditional position sensorless control for interior permanent magnet synchronous motor (IPMSM) across the full-speed range, this study aims to develop a position sensorless control strategy capable of achieving stable control across the full-speed range. Specifically, it seeks to address technical challenges such as insufficient observation accuracy of speed and angle at low speeds, significant system chattering at medium and high speeds, and poor stability during speed transitions, thereby achieving smooth position sensorless control switching from low to high speeds. [Methods] This study proposed a full-speed-range position sensorless control strategy based on a multimodal observer. At low speeds, an improved high-frequency square-wave injection method was adopted. By considering cross-coupling effects, a precise mathematical model of the motor was established to effectively extract rotor position information. At medium and high speeds, a novel sliding mode observer was designed, which significantly reduced system chattering by optimizing the switching function and introducing a boundary layer method. To ensure a smooth switching from low to high speeds, a fuzzy logic-based weighted switching algorithm was innovatively proposed, which ensured continuity and stability during switching by dynamically adjusting weight coefficients in real time. [Results] In the low-speed range (0~5% rated speed), the improved high-frequency square-wave injection method limited the position observation error within ±0.05 rad, demonstrating that incorporating cross-coupling effects improved the accuracy of rotor speed and angle estimation. In the medium- and high-speed range (5%~100% rated speed), the novel sliding mode observer effectively achieved position sensorless control and reduced system chattering amplitude by about 60%. After applying the weighted switching algorithm, torque fluctuations during speed switching decreased by 45%, and speed overshoot was maintained within 2%. Compared to traditional methods, the proposed strategy improved control accuracy by over 30% and enhanced dynamic response speed by 25% across the full-speed range. [Conclusion] The proposed full-speed-range position sensorless control strategy effectively addresses the control challenges of IPMSM across the full-speed range. The improved high-frequency square-wave injection method significantly enhances observation accuracy at low speeds, while the novel sliding mode observer efficiently suppresses system chattering at medium and high speeds, and the fuzzy logic-based weighted switching algorithm achieves smooth transitions between speed ranges. Simulation and experimental results fully validate the feasibility and superiority of the proposed strategy, offering a new solution for practical sensorless applications in IPMSM.

国网天津市电力科技项目(电科-研发23-40)