基于卡尔曼前馈拟合状态观测器的储纬器用永磁同步电动机霍尔位置检测方法

doi:10.13475/j.fzxb.20241002501

纺织学报 ›› 2025, Vol. 46 ›› Issue (09): 232-241.doi: 10.13475/j.fzxb.20241002501

基于卡尔曼前馈拟合状态观测器的储纬器用永磁同步电动机霍尔位置检测方法

孟子钰¹, 鲁文其²(), 张颂², 苗盛鸿², 黄富华², 彭来湖²

1.浙江理工大学信息科学与工程学院, 浙江杭州 310018
2.浙江理工大学机械工程学院, 浙江杭州 310018

收稿日期:2024-10-14 修回日期:2025-04-25 出版日期:2025-09-15 发布日期:2025-11-12
通讯作者: 鲁文其(1982—),男,教授,博士。主要研究方向为面向纺织机械等的电动机伺服和变频驱动的基础理论和关键技术研究。E-mail:luwenqi@zstu.edu.cn。
作者简介:孟子钰(1999—),男,硕士生。主要研究方向为面向纺织机械的电动机控制。
基金资助:
国家自然科学基金项目(52277068);浙江省科技厅重点研发计划项目(2024C01230);浙江省科技厅重点研发计划项目(2025C01015);浙江省科技厅重点研发计划项目(2025C03011);浙江省科技厅重点研发计划项目(2025C03013)

Position detection method of permanent magnet synchronous motor for weft storage device based on Kalman feedforward fitting observer with Hall sensor

MENG Ziyu¹, LU Wenqi²(), ZHANG Song², MIAO Shenghong², HUANG Fuhua², PENG Laihu²

1. School of Information Science and Engineering, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China
2. School of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, Zhejiang 310018, China

Received:2024-10-14 Revised:2025-04-25 Published:2025-09-15 Online:2025-11-12

摘要/Abstract

摘要： 基于开关型霍尔位置传感器的永磁同步电动机控制系统虽具有高功率密度、高效率等优势,但该类型传感器的信号跳变离散,使电动机的位置和速度估算出现较大误差,进而影响了储纬器纱线输送的运行性能。为提高电动机转子估算的精度,以增强储纬器纱线输送的稳定性,提出了基于卡尔曼前馈拟合状态观测器的电动机转子位置和速度估计方法。首先采用卡尔曼迭代算法对离散的霍尔信号进行滤波及拟合,以消除霍尔安装偏差造成的噪声扰动;其次,采用全维状态观测器对电动机的转子位置信息进行估算,最终获得连续的电动机转子位置和速度信息。为验证提出算法的有效性,搭建实验平台进行了测试。结果表明:相较于传统的线性外插算法,采用改进卡尔曼前馈拟合状态观测器算法的系统,在启动阶段,电动机转子位置及速度的估算精度更高;在整个运行过程,纱线输送的动态性能和稳态性能更好。

关键词: 霍尔传感器, 永磁同步电动机, 储纬器, 卡尔曼滤波, 全维状态观测器, 矢量控制

Abstract:

Objective In order to meet the high-speed and high stability control requirements of the motor driving sulutions for the application of weft storage, and to improve the accuracy of position and speed estimation in the permanent magnet synchronous motor drive system based on Hall sensors so as to enhance the stability of yarn transport in the weft storage device, This paper analyzes in detail the working principle of Hall sensors and proposes a motor rotor position and speed estimation method based on Kalman feedforward fitting state observer to address the problems of discrete position signals and low speed estimation accuracy in the permanent magnet synchronous motor drive system based on Hall sensors.

Method This article provides a detailed analysis of the working principle of Hall sensors and proposes a motor rotor position and velocity estimation method based on Kalman feedforward fitting state observer. First of all, This method uses the Kalman iterative algorithm to filter and fit the discrete Hall signal, eliminating the noise disturbance caused by Hall installation deviation; secondly, a full dimensional state observer is adopted to estimate the rotor position information of the motor, ultimately obtaining continuous rotor position and velocity information of the motor.

Results Compared with conventional algorithms, in the motor drive performance testing section, using the algorithm proposed, running at a given speed of 500 r/min, the startup response time is consistent and the steady-state error is reduced by 15%. At a given speed of 1 500 r/min, the startup time was shortened by 0.2 s and the steady-state error was reduced by 11.5%. At a given speed of 5 000 r/min, the startup time was shortened by 0.8 s and the steady-state error was reduced by 0.8%. In the performance testing of closed-loop yarn conveying in the weft storage device, the algorithm proposed was a dopted to shorten the start-up time by 0.1 s and steady-state error by 7.6% under the condition of external sock machine pulling yarn speed of 100 m/min. Under the condition of external sock machine pulling yarn at a speed of 700 m/min, the startup time was shortened by 0.2 s and the steady-state error was reduced by 13.3%.

Conclusion The experimental results show that compared with conventional algorithms, the proposed energy storage control system based on Kalman feedforward fitted state observer has higher estimation accuracy of motor rotor position and velocity during start-up and steady-state operation, and better motor driving performance; in the process of yarn conveying, the dynamic and steady-state performance of the weft storage control system is better, which better meets the high-performance control requirements of weft storage yarn conveying.

Key words: Hall sensor, permanent magnet synchronous motor, weft storage device, Kalman filtering, full order state observer, vector control

中图分类号:

TM341

孟子钰, 鲁文其, 张颂, 苗盛鸿, 黄富华, 彭来湖. 基于卡尔曼前馈拟合状态观测器的储纬器用永磁同步电动机霍尔位置检测方法[J]. 纺织学报, 2025, 46(09): 232-241.

MENG Ziyu, LU Wenqi, ZHANG Song, MIAO Shenghong, HUANG Fuhua, PENG Laihu. Position detection method of permanent magnet synchronous motor for weft storage device based on Kalman feedforward fitting observer with Hall sensor[J]. Journal of Textile Research, 2025, 46(09): 232-241.

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链接本文: http://www.fzxb.org.cn/CN/10.13475/j.fzxb.20241002501

http://www.fzxb.org.cn/CN/Y2025/V46/I09/232

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参数	指标	参数	指标
极对数	2	磁链/wb	0.016 28
线电感/mH	6.11	额定电流/A	0.65
线电阻/Ω	3.63	额定电压/V	57
额定转速/(r·min^-1)	5 000	反电动势常数	3.41

基于卡尔曼前馈拟合状态观测器的储纬器用永磁同步电动机霍尔位置检测方法

Position detection method of permanent magnet synchronous motor for weft storage device based on Kalman feedforward fitting observer with Hall sensor

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