In order to obtain the position information of the rotor of permanent magnet synchronous motor,an extended Kalman filter ( EKF) algorithm is proposed;Introducing the estimation of load torque in the traditional fourth-order EKF and feedforward it to the current loop to solve the problem of slow response of the speed loop to external load disturbances;By designing an improved recursive least squares method for real-time identification of the motor's moment of inertia,the observation performance and robustness of the system were optimized. Building a simulation model based on Simulink,the results show that the observer has excellent performance and improves the system's disturbance resistance. Finally,hardware experiments were conducted to achieve a motor position error of only 0.02 rad and a load torque observation error of less than 4％,effectively improving the dynamic characteristics of the system under load fluctuations.
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维普
