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Elimination of Low-speed Vibration in Vector-controlled Permanent Magnet Synchronous Motor by Real-time Adjusted Extended Kalman Filter

机译：实时调整扩展卡尔曼滤波器消除矢量控制永磁同步电动机中的低速振动

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摘要

The inaccuracy and delay of speed feedback cause a vibration problem when the permanent magnet synchronous motor runs at low speed. As the low-speed smoothness is a key point of many applications of the permanent magnet synchronous motor, this article solves this problem by adding a real-time adjusted extended Kalman filter to low-precision-sensor vector control. In the mathematical model, the estimated speed of the extended kalman filter is significantly impacted by the deviations of the resistance and magnetic flux rather than other parameters. Thus, under i_d = 0 vector control, a R_s -ψ-identifier is designed to calculate the values of the resistance and flux simultaneously with a small compensating i_d. This algorithm runs on the platform in real time. Finally, the experiment results validate that when the velocity reaches as low as 1 r/min, the proposed method eliminates the vibration problem in the low-precision-sensor permanent magnet synchronous motor.
机译：当永磁同步电动机低速运行时，速度反馈的准确性和延迟会引起振动问题。由于低速平滑度是永磁同步电动机的许多应用的关键，因此本文通过在低精度传感器矢量控制中添加实时调整的扩展卡尔曼滤波器来解决此问题。在数学模型中，扩展卡尔曼滤波器的估计速度受电阻和磁通量而不是其他参数的偏差影响很大。因此，在i_d = 0的矢量控制下，设计了一个R_s-ψ标识符，以较小的补偿i_d同时计算电阻和磁通的值。该算法实时在平台上运行。最后，实验结果验证了该方法在速度低至1 r / min时消除了低精度传感器永磁同步电动机的振动问题。

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