基于扩张状态观测器的PMSM积分时变滑模控制

为了实现永磁同步电机(PMSM)驱动系统的高精度跟踪控制,提出了新型积分时变滑模控制策略,该策略考虑到系统的非线性和耦合特性对动、静态性能的影响,首先采用反馈线性化原理将系统模型线性化,然后为了加快动态响应过程,采用单回路结构取代串级结构设计积分时变滑模控制器。针对负载扰动的问题,设计了一种以负载转矩为观测对象的扩张状态观测器,并将观测值反馈到控制器中以克服扰动对性能的影响。最后在永磁同步电机实验平台上开展了对比实验研究,通过实验结果可以看出,积分时变滑模控制器使系统具有无超调、快速性的优点,提高了系统的动态和稳态性能,扩张状态观测器能够快速跟踪负载的变化,增强了控制器对负载扰动的鲁棒性。

Integral and Time-varying Sliding Mode Control of PMSM Based on Extended State Observer

A novel integral and time-varying sliding mode control strategy was investigated to realize the high accuracy tracing control for the permanent magnet synchronous motor(PMSM)drive system.The influence of the nonlinear and the coupling characteristic on the dynamic and static performance of the system was considered in this strategy.Firstly,the linearization model of PMSM was derived from feedback linearization technology.Then,in order to accelerate the dynamic response process,the single-loop structure was adopted instead of the cascade control to design the integral and time-varying sliding mode controller.Aiming at the problem of load disturbance,an extended state observer with load torque as observation object was designed,and the estimated value was fed back into the controller to overcome the influence of disturbance on performance.Finally,the comparative experiment study was carried out on the PMSM experimental platform.Experimental results show that the integral and time-varying sliding mode controller can make the system has the advantages of rapidity and no over-shoot,improve the dynamic and static performances.The extended state observer can observe the change of the load torque rapidly and enhance the robustness of the controller to load disturbance.