Research On Permanent Magnet Synchronous Motor Vector Control System Based On Position Estimation Via Sliding Mode Observer

Because of its simple structure,high power density and long life,permanent magnet synchronous motor has been widely used in aerospace,automotive electronics,and robot joint servo systems.In the traditional permanent magnet synchronous motor servo control system,it is required to install a position sensor on the rotor mechanical shaft to obtain the rotor position information.This method increases the complexity of the circuit system,reduces the stability of the system,and also restricts the motor application.Therefore,there are important application value to research the permanent magnet synchronous motor sensorless control technology.This paper takes the robot training platform as the application background,a modified sliding mode observer is designed for the permanent magnet synchronous motor control algorithm to meet the requirements of the robot training platform for the sensorless operation of the motor controller.Compared with the traditional sliding mode observer,the rotor position and velocity information with higher accuracy is obtained.The work and innovation of this article are as follows:1.The current development of position sensorless PMSM contro0 ls were discussed.Through the analysis of the structure and basic characteristics of the permanent magnet synchronous motor,the mathematical model of the synchronous rotating coordinate system was established.Meanwhile,the basic features of the vector control framework were discussed,and then a position sensorless vector control framework was built based on sliding mode observer.2.For traditional sliding mode observers,there are problems of chattering and low observation accuracy.The traditional sliding mode observer is improved by introducing the Fal-function as a saturation function,and the improved observer stability and steady state error are analyzed.For the start-up process,reduce the start-up difficulty by using the pulsed high-frequency voltage injection method during the system startup phase3.According to the design scheme,a PMSM vector control system based on sliding mode observer was built in the MATLAB/simulink environment,and the scheme was simulated and verified.Then,using STM32F103RBT6 as the main controller,the hardware and software system of PMSM sensorless vector control system was built.Experimental verification of the proposed scheme was carried out.Under the same experimental conditions and compared with the method of obtaining the rotor position by using Hall sensor,the superiority of the proposed algorithm was proved..