赵晓侠，童汝超，王 思，雷金辉

(1.昆明理工大学信息与自动化学院，云南昆明 650500；2.云南白药集团股份有限公司，云南昆明 650118)



基于扩展卡尔曼方法的无速度传感器直接转矩控制

赵晓侠1，童汝超1，王 思2，雷金辉1

(1.昆明理工大学信息与自动化学院，云南昆明 650500；2.云南白药集团股份有限公司，云南昆明 650118)

摘要由于无速度传感器感应电机在农业生产、交通运输等方面的应用日益广泛，针对传统直接转矩控制(DTC)存在低频脉动和控制精度差等问题，提出利用扩展卡尔曼滤波器对感应电机控制系统进行状态估计的方法，从而实现无速度传感器直接转矩控制。首先分析应用于感应电机的扩展卡尔曼滤波(EKF)算法，设计了一种基于EKF的观测器，用于同时估计感应电机的转速和负载转矩，由此建立无速度传感器EKF-DTC控制系统。仿真实验结果表明，系统具有较强的鲁棒性。相比传统DTC控制，EKF-DTC控制系统在低频脉动抑制和随动控制性能上有明显改善。

关键词扩展卡尔曼滤波；直接转矩控制；无速度传感器；状态估计；观测器

A Speed-sensorless Direct Torque Control Based on the Extended Kalman

ZHAO Xiao-xia1, TONG Ru-chao1, WANG Si2et al

(1.College of Information Engineering and Automation, Kunming University of Science and Technology, Kunming, Yunnan 650500; 2. Yunnan Baiyao Group Co.Ltd, Kunming, Yunnan 650118)

AbstractSpeed-sensorless induction motor is widely applied in agricultural production and transportation. In order to minimize the ripples and improve the inaccurate speed at low speed in direct torque control system, a novel state estimation algorithm, which is based on the extended kalman filter(EKF), was proposed for sensorless control of induction motor. The application of EKF in asynchronous motor was studied in this paper, and a EKF-based observer was designed to estimate the speed and torque. Finally a direct torque control system based on the extended kalman (EKF-DTC) was constructed. Simulation results showed that the robustness of drive system is enhanced by the proposed algorithm. The results also indicated that the system EKF-DTC has achieved a significant improvement on the performance of the low-frequency ripple suppression and follow-up control compared with traditional direct torque control (DTC) system.

Key wordsEKF; DTC; Speed-sensorless; State estimation; Observer

感应电机具有结构简单、制造方便、价格低廉等优点，近年来在农业领域得到了广泛的应用。目前感应电机的控制技术已经相对成熟，矢量控制和直接转矩控制(DTC)改善了电机的控制性能，在传统的控制策略中，都是将速度传感器测量得到的转速作为反馈量，构成闭环控制系统，以提高控制系统的动态性能[1-2]。但在实际的农业生产应用中，有些场合安装传感器十分困难，增加系统成本的同时还会降低系统的机械强度和可靠性[3-5]。……