带有滑模观测器的永磁同步电机改进型PID控制

针对传统滑模观测器的抖振现象严重、估计精度低等问题，提出了一种带有二阶滑模观测器的内嵌式永磁同步电机改进型PID控制方案。根据Super twisting algorithm设计了二阶滑模观测器，取消了传统滑模观测器方案中的低通滤波器与位置补偿环节，有效抑制了滑模抖振，提高了估计精度。为了进一步改善系统的动态性能，基于牛顿插值法构造了一种具有滤波功能的离散微分器并利用三点离散微分器代替传统微分设计了转速环改进型PID控制器。仿真验证了该方案能够有效抑制抖振现象，估计精度高，稳态性能与动态性能较好。

Improved PID Control of Permanent Magnet Synchronous Motor with Sliding Mode Observer

Aiming at the serious chattering phenomenon and low estimation accuracy of traditional sliding mode observers, an improved PID control scheme of an inner permanent magnet synchronous motor with a second-order sliding mode observer was proposed. A second-order sliding mode observer was designed according to a super twisting algorithm, which could effectively suppress the sliding mode chattering without the use of low-pass filter and position compensation, and improve the estimation accuracy. In order to further improve the dynamic performance of the system, a discrete differentiator with filtering function was constructed based on the Newton interpolation. Then an improved PID controller of speed loop was designed with the three-point discrete differentiator instead of the traditional differential. The simulation verifies that this scheme can effectively suppress slide mode chattering, with high estimation accuracy, and have good steady state performance and dynamic performance.