基于改进型双幂次组合趋近律的永磁同步电机无模型滑模控制

针对采用PI控制或传统无模型滑模控制（MFSMC）的永磁同步电机（PMSM）实际运行时因内部电磁参数摄动导致系统控制性能下降的问题，提出一种新型无模型滑模控制算法（IMFSMC）。首先，建立参数摄动下PMSM超局部模型；其次，设计改进型双幂次组合趋近律加快系统在趋近滑模面阶段的收敛速率；再次，设计扩展滑模扰动观测器（ESMDO）实时观测系统未知总扰动；同时，利用Lyapunov稳定性判定第二方法证明所设计控制器和观测器的稳定性；最后，将IMFSMC、MFSMC以及PI控制的仿真和实验进行对比，结果证明所提方法可以有效加快转速响应速率，增强系统的鲁棒性。

Model-Free Sliding Mode Control of Permanent Magnet Synchronous Motor Based on Improved Double-Power Combined Reaching Law

In view of the flaw that the control performance of permanent magnet synchronous motor (PMSM), which uses PI control or traditional model free sliding mode control (MFSMC), is degraded due to the perturbation of internal electromagnetic parameters, an improved model-free sliding mode control algorithm (IMFSMC) has thus been proposed. Firstly, a hyperlocal model of PMSM is established under the condition of parameter perturbation. Secondly, an improved double-power combinatorial approach law is designed to accelerate the system convergence rate in the stage of approaching the sliding surface. Then, an extended sliding mode disturbance observer (ESMDO) is desinged for a real-time observation of the unknown total disturbance system. Meanwhile, the stability of the designed controller and observer is demonstrated by using the second method of Lyapunov stability determination. Finally, a comparison is made between the simulation and experiments of IMFSMC, MFSMC, and PI control, with the results showing that the proposed method can effectively accelerate the speed response rate and enhance the robustness of the system.