【目的】永磁同步电机(PMSM)的高精度矢量控制面临依赖位置传感器、负载突变响应滞后及起动失步等问题。且PMSM运行时，定子内阻分压、反电动势及dq轴耦合项等时变因素会使控制精度降低。【方法】为满足高精度应用需求，本文提出了一种一体化转速辨识、负载扰动抑制以及精确磁场定向的无速度传感控制方法。首先，基于Popov超稳定性理论构建模型参考自适应系统(MRAS)，通过定子电压方程的参考模型与可调模型的输出误差，设计自适应律辨识转速，实现无速度传感器运行；其次，基于MRAS构建全维状态观测器(FOSO)，利用实测电压、电流与估计转速重构系统状态空间，通过配置反馈增益矩阵抑制负载突变引起的转速波动，形成虚拟转速环以提高抗扰能力。最后，通过开环起动解决电机起动时转子位置随机性导致的电机失步问题，并在dq轴控制电压引入定子内阻分压补偿与dq轴交叉耦合项动态补偿，减小控制电压损耗，实现定子磁场的精确定向。【结果】试验结果表明，FOSO构成的虚拟转速环能够有效抑制负载扰动，且精确磁场定向后的磁链圆更趋近于理想的圆形。【结论】本文所提一体化控制方法有效解决了PMSM在无速度传感器运行、负载突变响应与起动失步等方面的控制难点，显著提高了系统响应速度与控制精度。

[Objective] High-precision vector control of permanent magnet synchronous motor (PMSM) faces problems such as dependence on position sensors, response lag of sudden load change, and start-up out-of-step. During PMSM operation, the time-varying factors such as stator internal resistance partial voltage, back electro motive force and dq-axis coupling term will degrade the control accuracy. [Methods] In order to meet the demands of high-precision applications, this paper proposed a method integrated speed identification, load disturbance suppression, and precise magnetic field orientation for speed sensorless control. Firstly, a model reference adaptive system (MRAS) was constructed based on Popov superstability theory, and an adaptive law was designed to identify the speed through the output error of the reference model and the adjustable model of the stator voltage equation to achieve the speed sensorless operation. Secondly, a full order state observer (FOSO) was constructed based on MRAS. The system state space was reconstructed by using the measured voltages, currents and the estimated rotational speeds. A feedback gain matrix was configured to suppress speed fluctuations caused by sudden load changed, forming a virtual speed loop to enhance disturbance rejection capability. Finally, open-loop starting was used to solve the motor out-of-step problem caused by the randomness of rotor position during motor starting, the stator internal resistance voltage division compensation and the dynamic compensation of dq-axis cross-coupling term were introduced into the dq-axis control voltage, which reduced the control voltage loss and realized the precise orientation of the stator magnetic field. [Results] The experimental results showed that the virtual speed ring composed of FOSO could effectively suppress the load disturbance, and the magnetic chain circle after the precise magnetic field orientation was closer to the ideal circle. [Conclusion] The integrated control method proposed in this paper effectively solves the control difficulties of PMSM in the areas of speed sensorless operation, response lag of sudden load change and start-up out-of-step, and significantly improves the system response speed and control accuracy.

北方民族大学研究生创新项目(YCX24341);国家自然科学基金(62163003)