摘要
针对永磁同步电机传统滑模控制系统中存在的滑模抖振、负载扰动、控制精度差等问题,提出了一种基于新型趋近率和改进型扩张状态观测器的永磁同步电机改进滑模控制策略。首先,针对滑模抖振问题,在速度环提出一种新型趋近率,结合积分滑模结构,设计了一种基于新型趋近率的积分滑模速度环控制器,并通过差分方程对新型趋近率的抖振抑制效果进行了分析。其次,针对扰动补偿问题,在扩张状态观测器中加入滑模控制率,以提高其自适应能力,设计了一种改进型扩张状态观测器,可以对扰动转矩进行估计,并将扰动转矩估计值作为前馈信号补偿给滑模速度环控制器;通过李雅普诺夫判据对所提控制策略的稳定性进行了推导说明。仿真结果表明:与传统滑模控制相比,所提控制策略可使电机在启动和受到负载扰动时系统响应良好,有效改善滑模抖振,提高转矩估计精度和系统控制精度。
An improved sliding mode control strategy for permanent magnet synchronous motor(PMSM)using novel reaching law and improved extended state observer is proposed to solve problems of sliding mode chattering,load disturbances and poor control accuracy in traditional sliding mode control system for PMSM.Firstly,a novel reaching law is proposed to solve the problem of sliding mode chattering,and an integral sliding mode controller based on the novel reaching law is designed in speed loop.The chattering suppression effect of the novel reaching law is analyzed by a difference equation.Secondly,a sliding mode control law is added to the extended state observer to solve the problem of disturbance compensation and to improve the adaptive ability of observer,and an improved extended state observer is designed to estimate disturbance torque.Then,the estimated disturbance torque value is served as a feedforward signal to compensate sliding mode controller in speed loop.The stability of the proposed control strategy is proved by Lyapunov criterion.Simulation results,and a comparison with the traditional sliding mode control show that the proposed controller obtains very nice system respond,effectively suppresses the sliding mode chattering and improves the estimation accuracy of torque and the control accuracy of system when the motor starts and is subjected to load disturbances.
作者
赵峰
罗雯
高锋阳
余佳乐
ZHAO Feng;LUO Wen;GAO Fengyang;YU Jiale(School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China)
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2020年第6期28-35,共8页
Journal of Xi'an Jiaotong University
基金
国家重点研发计划资助项目(2018YFB1201602)。
关键词
永磁同步电机
新型趋近率
滑模控制
改进型扩张状态观测器
permanent magnet synchronous motor(PMSM)
novel reaching law
sliding mode control
improved extended state observer
