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Robust integral backstepping control with extended Kalman filter of permanent magnet synchronous motor

机译：永磁同步电动机的扩展Kalman滤波器实现鲁棒的积分反步控制

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摘要

Sensorless integral backstepping control combined with extended Kalman filter applied to permanent magnet synchronous motors (PMSM) is the topic of this paper. Moreover, a robust backstepping control is designed where an integral action is introduced in order to improve the robust properties of the controller. Our proposed control strategy is based on an accurate extended Kalman filter observer that estimates speed, position, stator currents and load torque. This Kalman filter is an optimal state estimator and is usually applied to a dynamic system that involves a random noise environment. The stability of the system with the observer-controller scheme is analysed and sufficient conditions are given to prove the practical stability. The simulation results are shown to illustrate the performance of the proposed scheme under parametric uncertainties and low speed.
机译：本文的主题是将无传感器积分反步控制与扩展卡尔曼滤波器相结合应用于永磁同步电动机（PMSM）。此外，设计了鲁棒的反推控制，其中引入了积分作用以改善控制器的鲁棒性。我们提出的控制策略基于精确的扩展卡尔曼滤波器观测器，该观测器可估算速度，位置，定子电流和负载转矩。该卡尔曼滤波器是一种最佳状态估计器，通常应用于涉及随机噪声环境的动态系统。分析了具有观测器-控制器方案的系统的稳定性，并给出了充分的条件以证明其实用的稳定性。仿真结果表明了该方案在参数不确定性和低速情况下的性能。

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