永磁同步电机的自学习滑模反步抗扰控制

针对永磁同步电机(PMSM)速度跟踪控制问题,设计了一种自学习滑模反步抗扰控制方法.该方法设计了基于类Sigmoid函数的改进型跟踪微分器(TD)用于对输入信号和虚拟控制信号进行滤波,避免了对信号反复解析求导产生的微分爆炸问题,并设计了扩张状态观测器(ESO)用于对外界负载扰动进行实时观测估计和补偿.为了削弱抖振和提高...

Self-learning Backstepping Sliding Mode Control with Disturbance Rejection for Permanent Magnet Synchronous Motor

A self-learning backstepping sliding mode control method based on active disturbance rejection control technology is proposed for the problem of PMSM speed tracking control.An improved TD which based on the Sigmoid-like function is designed to filter the input signal and the virtual control signal.It can avoid the problem of differential signal explosion caused by resolution of signals repeatedly.Also an extended state observer(ESO)is designed to estimate external load disturbances in real time and compensate.In order to weaken the buffeting problem of the sliding model and improve the adaptive ability of the system,designed the sliding mode approach law which use the nonlinear smoothing function,in addition used the steepest descent method to design the self-learning method of gain parameters.Finally,based on the theoretical analysis of Lyapunov and Barbalat,the stability of the system is verified;the simulation results show that the control method is effective,and it has high control precision and anti-interference ability.