基于鲁棒反演滑模控制的PMSM伺服系统控制研究

为了解决永磁同步电机伺服系统PI控制对转矩干扰、参数扰动和大幅位置波动鲁棒性差等问题,将反演控制和滑模控制相结合设计了鲁棒反演滑模位置伺服控制器,通过构建虚拟控制项,利用李雅普诺夫稳定性原理推导了控制律,并进行了稳定性分析。为避免抖动现象造成高精度伺服系统无法运行,采用连续饱和函数取代继电特性的符号函数。通过与PI控制器的伺服系统仿真对比,鲁棒反演滑模控制器对不确定性、转矩干扰和自身运行导致参数摄动具有较强的鲁棒性,且响应速度快,大大削弱了抖动现象。

A Study on PMSM Servo Syste m Control Based on Robust Backstepping Sliding-mode Control

In order to solve such problems as interference of PI control on torque,parameter disturbance and poor robustness in the case of large positional fluctuation in the PMSM servo system,through combination of backstepping control and sliding-mode control,this paper designs a robust backstepping sliding-mode position servo controller.Through construction of virtual control,the Lyapunov stability principle is used to deduce the control law,and the stability is analyzed.The sign function of relay characteristics is replaced by the continuous saturation function to avoid that the high-precision servo system cannot operate on account of chattering.As shown in the comparison with the PI controller servo system,the robust backstepping sliding-mode controller has a strong robustness against uncertainty,torque disturbance and parameter perturbation caused by its own operation as well as high response speed,thus reducing chattering to a great extent.