电子测量与仪器学报

张晨晨,韩建斌,江明,王晨,黄健.高速永磁推进电机无传感器复合控制策略研究[J].电子测量与仪器学报,2025,39(12):206-216

高速永磁推进电机无传感器复合控制策略研究

Sensorless hybrid control strategy for high-speedpermanent magnetpropulsion motors

DOI：

英文关键词:high-speed permanent magnet motors adaptive law super-twisting sliding mode extended state observer phase-locked loop

基金项目:安徽省自然科学基金面上项目（2408085ME124）资助

作者	单位
张晨晨	1.安徽工程大学高端装备先进感知与智能控制教育部重点实验室芜湖241000； 2.安徽工程大学电气工程学院芜湖241000
韩建斌	1.安徽工程大学高端装备先进感知与智能控制教育部重点实验室芜湖241000； 2.安徽工程大学电气工程学院芜湖241000
江明	1.安徽工程大学高端装备先进感知与智能控制教育部重点实验室芜湖241000； 2.安徽工程大学电气工程学院芜湖241000
王晨	1.安徽工程大学高端装备先进感知与智能控制教育部重点实验室芜湖241000； 2.安徽工程大学电气工程学院芜湖241000
黄健	1.安徽工程大学高端装备先进感知与智能控制教育部重点实验室芜湖241000； 2.安徽工程大学电气工程学院芜湖241000

Author	Institution
Zhang Chenchen	1.Key Laboratory of Advanced Perception and Intelligent Control of HighEnd Equipment, Anhui Polytechnic University, Wuhu 241000, China; 2.School of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China
Han Jianbing	1.Key Laboratory of Advanced Perception and Intelligent Control of HighEnd Equipment, Anhui Polytechnic University, Wuhu 241000, China; 2.School of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China
Jiang Ming	1.Key Laboratory of Advanced Perception and Intelligent Control of HighEnd Equipment, Anhui Polytechnic University, Wuhu 241000, China; 2.School of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China
Wang Chen	1.Key Laboratory of Advanced Perception and Intelligent Control of HighEnd Equipment, Anhui Polytechnic University, Wuhu 241000, China; 2.School of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China
Huang Jian	1.Key Laboratory of Advanced Perception and Intelligent Control of HighEnd Equipment, Anhui Polytechnic University, Wuhu 241000, China; 2.School of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China

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中文摘要:

无传感器控制技术不仅解决了传统位置传感器易受环境影响、运行可靠性低等问题，还显著提升系统功率密度，特别适用于高速航空推进系统。高性能控制策略决定了高速永磁电机(high-speed permanent magnet motors，HSPMM)无位置传感器控制系统的动态性能，传统的滑模观测器(sliding mode observer, SMO)存在固有抖振、相位延迟及动态跟踪能力不足等问题，基于此，提出一种自适应超螺旋滑模观测器(adaptive super-twisting sliding mode observer, ASTSMO)和基于扩展状态观测器的正交锁相环(extended state observer-based quadrature phase-locked loop, ESO-PLL)相结合的复合控制策略。核心创新在于通过ASTSMO结构有效抑制滑模面上的固有抖振；采用自适应率替代传统低通滤波器，从而避免反电动势信号的幅值衰减与相位偏移，显著增强系统鲁棒性；设计一种基频转速叠加的ESO PLL取代传统正交锁相环，提升位置与转速的动态估计性能。基于所建立的无位置传感器高速永磁推进系统仿真模型及9 kW无人机用高速推进电机测试平台进行验证，结果表明，相较于传统SMO方法，所提复合策略使转速调节时间缩短33%、稳态转速波动降低59%，稳态位置误差减小50%，系统动态响应与控制精度得到显著改善，能够满足航空高速推进电机系统的高动态响应和高精度控制要求。

英文摘要:

Abstracs: Sensorless control technology addresses critical limitations of conventional position sensors—including environmental susceptibility and low operational reliability—while significantly enhancing system power density, making it highly suitable for high-speed aerospace propulsion systems. The dynamic performance of sensorless control systems for high-speed permanent magnet motors (HSPMMs) is predominantly governed by advanced control strategies. Traditional sliding mode observers (SMO) exhibit inherent challenges such as chattering, phase delay, and insufficient dynamic tracking capabilities. To overcome these limitations, this study proposes a hybrid control strategy combining an adaptive super-twisting sliding mode observer (ASTSMO) and an extended state observer-based quadrature phase-locked loop (ESO-PLL). The core innovations are the ASTSMO structure effectively suppresses inherent chattering on the sliding mode surface; an adaptive law replaces the traditional low-pass filter, thereby avoiding amplitude attenuation and phase shift of the back electromotive force signal and significantly enhancing system robustness; and a fundamental frequency speed-superimposed ESO-PLL is designed to replace the traditional quadrature phase-locked loop, improving the dynamic estimation performance of position and speed. Validation was conducted based on an established simulation model of a sensorless high-speed permanent magnet propulsion system and a 9 kW high-speed propulsion motor test platform for UAVs. Results demonstrate that, compared to the traditional SMO method, the proposed composite strategy reduces speed regulation time by 33%, decreases steady-state speed fluctuation by 59%, and reduces steady-state position error by 50%. The system′s dynamic response and control accuracy are significantly improved, meeting the high dynamic response and high-precision control requirements of high-speed aviation propulsion motor systems.

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