Extended Kalman Filter Based Speed Sensorless PMSM Control with Load Reconstruction

摘要

The intent of this chapter was to show the utility of the EKF as a fundamental method for solving range of problems in sensorless control of PMSM. There was presented the design and implementation of high-performance servo motor drive with speed, position and torque estimation. The described control system is a solution without any mechanical sensor for a wide range of applications where good steady-state and dynamical properties are required. The FOC based speed controlled PMSM requires no shaft sensors for rotor position and speed. Due to rotor asymmetry, the presented drive is also suitable for position control. The presented sensorless control scheme and EKF algorithm are self-starting. The most application required tension pick-up for torque measurement can be cheaper and rugged by load torque estimation. The described estimation of torque which was accented, can be helpful in a lot of robotic applications instead of expensive stress sensors. The consideration of the load torque as a constant term in the observation algorithm aims to capture other uncertainties besides the load torque than at rush changes. The results obtained through experiments under various challenging test demonstrate the good performance of the observer. For the experimental study presented above, the system performance was observed to be quiet good under step and reversals desired speed and the load torque changes. The practical success in sensorless control of nonlinear object suggests that the combination of EKF and classical PI controllers can provide powerful rapidity and precision drive. Finally, the chapter shows successful way of design of the EKF based observer of mechanical quantities for sensorless control of PMSM drive. The application of the algorithm demonstrates its potential in real-word robotic context.