基于魯棒H無窮濾波的步進電機轉子狀態估計
王超塵，楊濤
南京理工大學 自動化學院，江蘇 南京 210094
摘 要：為有效控制步進電機的運行，根據H 無窮魯棒濾波理論，設計了基于擴展H無窮濾波的步進電機狀態觀測器，并建立數學模型，將定子電流、轉子轉速和位置作為狀態變量。通過測量定子側的電流值和電壓值，利用擴展H 無窮濾波器對電機轉子的狀態做出最小方差估計。仿真結果表明，擴展H無窮濾波估算轉子轉速和位置信息是可行的，且擴展H無窮濾波精度和穩定性都優于擴展卡爾曼濾波。
關鍵詞：步進電機；擴展H無窮濾波；轉子轉速；轉子位置；無傳感器
中圖分類號：TM383.6 文獻標識碼：A 文章編號：1007-3175(2014)02-0008-03
Rotor State Estimation of Step Motor Based on Robust H∞ Filter
WANG Chao-chen, YANG Tao
School of Automation, Nanjing University of Science and Technology, Nanjing 210094,China
Abstract: In order to control the operation of step motor effectively, the state observer of step motor was designed based on H∞ robust filter theory. The mathematical model of step motor was established and the stator current, rotor speed and rotor position were regarded as state vector. The H∞ filter can get the minimum variance estimation of rotor state by measuring stator current and voltage, and lay the foundation for the sensorless motor control. The experimental results show that the H∞ filter can estimate rotor velocity and position, and filtering accuracy and stability are better than extended Kalman filtering.
Key words: step motor; extended H∞ filter; rotor speed; rotor position; sensorless
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