植保机器人小电容驱动永磁同步电机控制研究

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中图分类号：TM341 文献标识码：A 文章编号：2095-5553（2026）03-0112-07

Abstract：For the sensorless controlof permanent magnet synchronous motors （PMSM） in small-capacitance drive systems， this studyaddresses thereducedobservationaccuracytypicallyencountered with sliding modeobservers （SMO）.To mitigate theadvrseeffectsintroducedbythesmal-capacitancestructure，aharmonicself-cancelation filteringmethodbased onsynchronous rotating coordinate systems was proposed.The second-order generalized integrator（SOGI）was employed to suppress the high-frequencychatering inherentinconventional SMOs，while the harmoniccomponent itselfwasusedasa filtering carrier toseparate the back electromotive forcefrom double-frequency harmonics.Byapplyingtrigonometriclogic operations，theinterferenceofsecond-order harmonicson rotorposition estimation waseffectively suppressed. Simulationresults showed thatthe improved sliding modeobserver significantly improved rotorposition estimationaccuracy： the speed error was reduced from -4 to 7r/min （traditionalmethod）to -2to 3Δr/min ，and rotor position fluctuation decreased from -0.19 to 0.17rad to -0.11 toO.O3 rad. These findings indicate that the proposed harmonicself-cancelltionfilteringstrategycanefectivelyeliminatesinterferencecausedbysmall-capacitancedrivesystems， thereby improving the dynamic response and control accuracy of PMSM-based plant protection robot systems.

Keywords：plant protectionrobot；permanent magnet synchronous motor;smallcapacitordrive system；sliding modeobserve

0 引言

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