在基于扩展卡尔曼滤波(EKF)法的内置式永磁同步电机无位置传感器控制系统中，电机转速和转子位置的准确估计十分重要。针对相电流增益误差导致的转速和转子位置估计精度下降的问题，提出一种位置估计误差补偿方法。首先，理论推导得出，在扩展卡尔曼滤波器估算过程中，相电流增益误差会使估计转速及转子位置以二倍工频的频率振荡。其次，设计了一种新型结构扩展卡尔曼滤波观测器，即在传统扩展卡尔曼滤波观测器的基础上增加增益误差系数求解环节，以此来降低相电流增益误差引起的估计转速及转子位置的脉动，提高了估计精度。最后，仿真和试验验证了所提补偿方法的可行性。

In the sensorless control system for interior permanent magnet synchronous motor based on the extended Kalman filter (EKF) approach, accurate estimation of motor speed and rotor position is important. To address the issue of decreased estimation accuracy for speed and rotor position due to phase current gain errors, a method for compensating position estimation errors is proposed. Firstly, through theoretical derivation, it is shown that phase current gain errors can cause estimated speed and rotor position to oscillate at twice the supply frequency during the EKF estimation process. Secondly, a novel structure for the EKF observer is designed by adding a gain error coefficient solving section to the traditional EKF observer, which reduces the pulsations in estimated speed and rotor position caused by phase current gain errors, thereby improving estimation accuracy. Finally, simulations and experiments validate the feasibility of the proposed compensation method.

国家自然科学基金重点资助项目(52130706)