基于扩张状态观测器的永磁同步电机转速环连续螺旋控制

针对传统矢量控制策略在保持系统动态性能的基础上无法消除系统扰动的问题，为进一步提高系统的控制精度及抗扰能力，提出了一种基于扩张状态观测器(Extended State Observer, ESO)的连续螺旋滑模控制(Continuous Twisting Sliding Mode Control, CTSMC)方法。首先，该方法以双闭环矢量控制结构为基础，在转速环部分采用连续螺旋控制方法，与传统控制方法相比，可以将误差收敛到一定的区域，不仅提高了负载扰动的鲁棒性，还有效减少了系统的抖振。其次，在此控制器的基础上加入扩张状态观测器，估计系统的总扰动，并将此信号用于前馈补偿，以进一步提高系统的动态性能。最后，利用Lyapunov稳定性理论进行了闭环稳定性分析。通过仿真和实验，验证了基于扩张状态观测器的连续螺旋滑模控制方法的正确性及可行性。

An Extended State Observer Based Continuous Twisting Control for PMSM Speed Regulation

Aiming at the problem that the traditional vector control strategy can not eliminate the system disturbance on the basis of maintaining the dynamic performance of the system, and at the same time, in order to further improve the control accuracy and anti-interference ability of the system, a continuous twisting sliding mode control (CTSMC) method based on extended state observer (ESO) is proposed. Firstly, based on the double closed-loop vector control structure, the continuous twisting control method is adopted in the speed loop. Compared with the traditional control method, this method can converge the error to a certain region, not only improving the robustness of load disturbance, but also reducing the chattering phenomenon. Secondly, based on this controller, an ESO is added to estimate the total disturbance of the system, and the signal is used for the feedforward compensation controller to further improve the dynamic performance of the system. Finally, the closed-loop stability analysis is carried out by using Lyapunov stability theory, and the effectiveness of this method is verified by simulation and experiment.