基于鲁棒H无穷滤波的步进电机转子状态估计
王超尘，杨涛
南京理工大学 自动化学院，江苏 南京 210094
摘 要：为有效控制步进电机的运行，根据H 无穷鲁棒滤波理论，设计了基于扩展H无穷滤波的步进电机状态观测器，并建立数学模型，将定子电流、转子转速和位置作为状态变量。通过测量定子侧的电流值和电压值，利用扩展H 无穷滤波器对电机转子的状态做出最小方差估计。仿真结果表明，扩展H无穷滤波估算转子转速和位置信息是可行的，且扩展H无穷滤波精度和稳定性都优于扩展卡尔曼滤波。
关键词：步进电机；扩展H无穷滤波；转子转速；转子位置；无传感器
中图分类号：TM383.6 文献标识码：A 文章编号：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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