基于离散时间趋近率控制与内模控制的永磁同步电动机传动系统

提出一种永磁同步电动机（PMSM)鲁棒控制技术，以削弱系统性能对电机模型精度的敏感性，简化控制器设计过程。首先在电流控制中应用对模型误差高度鲁棒的内模控制(IMC)，得到同步坐标系下直接由电机参数和期望闭环带宽表示的PI型IMC控制器，改善电流环特性的同时避免了调节PI参数。随后提出了基于离散时间趋近率控制(RLC)的PMSM速度控制器，其离散解满足了数字控制对离散系统分析与设计的需要，分析了速度环中RLC控制器的稳定性。仿真结果验证了所提传动系统的优良性能。

PM SYNCHRONOUS MOTOR DRIVES BASED ON DISCRETE-TIME REACHING LAW AND INTERNAL-MODEL CONTROLS

A robust control technique for permanent magnet synchronous motor (PMSM) is proposed to reduce the sensitivity of drive to the accuracy of machine model, and to simplify the design procedure of controllers. First, highly robust internal model control (IMC) is used in the current control, and the synchronous-frame PI-type IMC controllers are expressed directly in machine parameters and desired closed-loop bandwidth, which avoids the adjustment of two PI-parameters; moreover the IMC structure improves the characteristic of current loop. Then, the speed controller of PMSM drive is proposed by using the principle of reaching law control (RLC), and the design equations are derived in the discrete time since the discrete time analysis and design are more appropriate for the digital control applications. The stability of the RLC-based controller in the speed loop is analyzed. Simulation results verify the proposed drive.