处于混沌状态的IPMSM位置控制方法研究

基于d-q坐标系下考虑扭转弹性转矩时内置式永磁同步电机(IPMSM)的系统模型对其处于混沌状态时的位置(转角)控制方法进行了研究。首先给出了d-q坐标系下考虑扭转弹性转矩时IPMSM的系统模型及其处于某一混沌状态时的Lyapunov指数、状态变量时序图和状态空间相图。然后采用基于PI的交流电机矢量控制方法对处于混沌状态的IPMSM设计了位置控制系统，其中电流环采用了最大转矩电流比(MTPA)控制策略。接下来，在位置环引入了一种基于趋近率的滑模鲁棒控制，并在电流环采用了将d轴电流的给定设置为某一适当负值的控制策略。最后，通过仿真实验对以上两种控制方案进行了验证和对比。结果表明两种控制方案均能实现有效的控制，其中第二种控制方案收敛速度更快，对位置给定的阶跃变化响应更快，对负载的阶跃变化鲁棒性更强。

Research on Position Control Method of IPMSM in Chaotic State

Based on the model of the Interior Permanent Magnet Synchronous Motor (IPMSM) considering the torsional elastic torque on d-q axis, the position (angle) control method of IPMSM in chaotic state was studied. Firstly, the model on d-q axis of the IPMSM including the torsional elastic torque and its Lyapunov exponents, time domain diagrams and phase diagrams in state space in a certain chaotic state were given. Then, a position control system was designed based on the vector control method with PI controllers, in which the Maximum Torque Per Ampere (MTPA) control strategy was adopted in the current loop. Next, a sliding mode robust controller based on the approach law was adopted in the position loop, and a control strategy of setting the d-axis current’s expected value to an appropriate negative value was adopted in the current loop. Finally, the above two control schemes were verified and compared by simulation experiments. The results show that both of the two control schemes are effective, and the second control scheme has a faster convergence, a faster response to the step change of the position’s expected value and a stronger robustness to the step change of the load.