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首页> 外文期刊>IEEE transactions on industrial informatics >Suppression of Current Quantization Effects for Precise Current Control of SPMSM Using Dithering Techniques and Kalman Filter
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Suppression of Current Quantization Effects for Precise Current Control of SPMSM Using Dithering Techniques and Kalman Filter

机译：使用抖动技术和卡尔曼滤波器抑制SPMSM精确电流的电流量化效应

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摘要

High-precision current control is demanded for many mechatronic systems to improve the static and dynamic performances. However, current measurement error inherent in the measurement system degrade the control accuracy, since the motor currents are not guaranteed to follow the desired references. In this paper, quantization error caused by analog-to-digital converters is studied. The dithering techniques combined with Kalman filter are proposed to suppress the quantization effects. First, two dithered systems, including the subtractively dithered and nonsubtractively dithered systems, are designed to whiten the quantization error. In the design of nonsubtractively dithered system, the probability characteristic of the metering noise is utilized to minimize the measurement noise level. Then, Kalman filter is designed to estimate the real current signals from the dithered current measurements. Since the variance of the total measurement error is theoretically calculable according to the proposed dithering techniques, Kalman gain can be determined analytically. Finally, simulations and experiments are performed to verify the effectiveness of the proposed approaches using a high-precision positioning system.
机译：许多机电系统需要高精度电流控制，以改善静态和动态性能。但是，由于不能保证电动机电流遵循所需的参考值，因此测量系统固有的电流测量误差会降低控制精度。本文研究了由模数转换器引起的量化误差。提出了结合卡尔曼滤波器的抖动技术来抑制量化效果。首先，设计两个抖动系统，包括减法抖动和非减法抖动系统，以白化量化误差。在非减法抖动系统的设计中，利用测量噪声的概率特征来最小化测量噪声水平。然后，设计卡尔曼滤波器，以从抖动电流测量值估计实际电流信号。由于总测量误差的方差在理论上可以根据提出的抖动技术进行计算，因此可以解析地确定卡尔曼增益。最后，进行仿真和实验以验证使用高精度定位系统提出的方法的有效性。

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