基于观测器的永磁同步电动机微分代数非线性控制

永磁同步电动机(PMSM)是一个典型的非线性多变量耦合系统。微分代数采用动态反馈控制实现一类非线性系统的控制，平滑性是微分代数的重要概念。该文首先给出PMSM的(d,q)数学模型并利用平滑性将其线性化，在此基础上构造了前馈反馈控制器。利用位置可测的特点，构造了非线性高增益观测器，实现了电流和速度观测，得到了控制一观测器系统，并给出了系统稳定的条件。通过对系统的位置给定仿真试验，结果表明：该系统具有快速性、稳定性、无超调、抗负载扰动以及无稳态误差观测等优点。

DIFFERENTIAL ALGEBRAIC OBSERVER-BASED NONLINEAR CONTROL OF PM SYNCHRONOUS MOTOR

The PM synchronous motor (PMSM) is a widely used typical nonlinear multi-variable coupled system. Differential algebraic strategy can be applied to address the dynamic feedback control problems effectively in the nonlinear systems, with Flatness an important concept in the differential algebra. First of all, the (d, q) mathematical model of the PMSM is presented. Then the new input-output model of PMSM is obtained by coordinate transformation. According to the derived model we can design the stable observer using any control scheme for linear systems. In this paper, the linearized system is controlled by the Proportional-Integral approach. The main goal is the position control of PMSM, according to which the high-gain observer is formed to observe the current and velocity. The stability of the controller-observer system, which is composed of controllers and observers, is verified by the Lyapunov theory. The simulation studies are done using MATLAB, and the simulation results demonstrate that the system has the advantages of fastness rapid response, stability, no over-shoot, rejecting load disturbance, no steady error observation and etc.