摘  要：为了取消永磁同步电机控制中的机械传感器，获得矢量控制中需要的电机转速和位置信息，设计了一种基于变结构控制的永磁同步电机转速和转子位置估算方法。选取定子固定坐标系下定子电流及电机感应电动势为状态变量，定子电压和电流作为输入、输出量，建立估算电机转速和转子位置的自适应滑模观测器系统。通过观测电机感应电动势来估计电机转子位置和转速，并结合扩展的卡尔曼滤波对电机感应电动势进行滤波。实验结果表明带有扩展的卡尔曼滤波的滑模观测器具有良好的动态性能，对被控对象的参数变化和扰动有很强的鲁棒性。
关键词：永磁同步电机；变结构控制；滑模观测器；扩展卡尔曼滤波器；无速度传感器

Abstract: To eliminate the mechanical sensors of permanent magnet synchronous motor(PMSM)drive and get the speed and position of the rotor used in vector control,a speed and position observer of the rotor based on variable structure control was established.The current and back eletromotive force on the stator fixed coordinate were chosen as state variables.The speed and position of the rotor are observed by adaptive sliding mode observer system.Observed the estimated back eletromotiv force to calculate the position and speed of the rotor,and it was filted by extended Kalman filter(EKF).Experimental results show that the sliding mode observer with extended Kalman filter(EKF)has good dynamic perfor-mances,strong robustness for the parameter variety of system and external interfere.
Key Words: PMSM；Variable structure control；Sliding mode observer；Extended Kalman filter；Speed sensorless