【目的】针对基于传统扩张状态观测器(ESO)的轨迹观测器在永磁同步电机(PMSM)位置和速度观测中所存在的响应速度慢、观测精度低和抗干扰能力差的问题,提出一种基于自适应加速度补偿的改进ESO轨迹观测器。【方法】在传统扩张状态观测器中引入自适应加速度前馈补偿,可直接根据位置观测误差在线自适应调节前馈加速度,进而提高强扰动、强暂态运行条件下轨迹观测的动态精度及响应速度。【结果】仿真结果表明,该改进型ESO轨迹观测器在设定的强扰动、强暂态工况下,与采用传统ESO的观测方案相比,位置观测误差减小了61.53%,角速度观测误差减小了58.6%。【结论】本文所提改进ESO轨迹观测器有效提高了轨迹观测的响应速度、动态精度和抗干扰性,观测性能好,具备较高的工程应用价值。

[Objective] To address the issues of slow response speed, low observation accuracy, and poor anti-disturbance capability in trajectory observation for permanent magnet synchronous motor (PMSM) position and speed estimation using traditional extended state observers (ESO), an improved ESO trajectory observer based on adaptive acceleration compensation is proposed. [Methods] Adaptive acceleration feedforward compensation was introduced into the traditional ESO, enabling online adaptive adjustment of the feedforward acceleration based on position observation errors. This enhancement improved the dynamic accuracy and response speed of trajectory observation under strong disturbance and transient operating conditions. [Results] Simulation results showed that the proposed improved ESO trajectory observer reduced the position observation error by 61.53% and the angular velocity observation error by 58.6% compared to the traditional ESO-based observation method under strong disturbance and transient conditions. [Conclusion] The proposed improved ESO trajectory observer effectively enhances response speed, dynamic accuracy, and anti-disturbance capability in trajectory observation. With excellent observation performance, it offers significant engineering application value.