基于新型趨近律和擾動觀測器的永磁同步電機滑模控制

劉京; 李洪文; 鄧永停

doi:10.13374/j.issn2095-9389.2017.06.017

基于新型趨近律和擾動觀測器的永磁同步電機滑模控制

doi: 10.13374/j.issn2095-9389.2017.06.017

劉京^1,2,
李洪文¹,
鄧永停^1, ,

1) 中國科學院長春光學精密機械與物理研究所, 長春 130033
2) 中國科學院大學, 北京 100039

基金項目:

中國科學院長春光學精密機械與物理研究所三期創新工程資助項目(065X32CN60)

國家自然科學基金青年基金資助項目(11603024)

詳細信息

中圖分類號: TM301.2
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出版歷程
- 收稿日期: 2016-10-10

PMSM sliding-mode control based on novel reaching law and disturbance observer

1) Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
2) University of Chinese Academy of Science, Beijing 100039, China

摘要

摘要: 為了提高永磁同步電機的轉速控制性能,克服擾動對伺服控制的影響,提出了一種基于新型趨近律和擾動觀測器的滑模控制方法.設計了一種新型趨近律,以解決傳統趨近律滑模面趨近時間和系統抖振之間的矛盾,提高系統響應快速性.綜合考慮系統存在內部參數攝動和外部負載擾動,設計了滑模擾動觀測器,并將觀測值前饋補償到速度控制器輸出端;將觀測器切換增益設計為擾動觀測誤差的函數,以削弱滑模觀測值抖振.仿真結果顯示,與傳統趨近律相比,采用新型趨近律可有效提高系統的響應速度,快速準確的跟蹤速度階躍信號;滑模觀測器可準確的觀測系統擾動的變化;當系統加入負載擾動時,PI控制最大轉速波動值為75 r·min^-1,而基于新型趨近律和擾動觀測器的滑模控制最大轉速波動值較小為30 r·min^-1,魯棒性更好.實驗結果顯示,采用基于新型趨近律和擾動觀測器的滑模控制方法可以快速跟蹤400 r·min^-1的速度指令,調節時間為0.12 s,穩態跟蹤誤差為±4 r·min^-1,且轉速無超調;滑模觀測器可準確無超調的估計系統擾動值,進一步提高系統的抗擾動性能;當電機以400 r·min^-1穩速運行時,加入0.6 N·m的負載擾動,基于新型趨近律和擾動觀測器的滑模控制方法最大轉速波動為23 r·min^-1,與PI控制相比,轉速波動減小了8%.上述仿真和實驗結果具有較好的一致性,表明基于新型趨近律和擾動觀測器的滑模控制方法可以有效抑制滑模控制系統的抖振,提高轉速控制系統的魯棒性和動態響應性能.
- 永磁同步電機 /
- 滑模控制 /
- 新型趨近律 /
- 擾動觀測器 /
- 轉速控制
Abstract: To improve the performance of the speed servo system in the permanent magnet synchronous motor (PMSM) and to reduce the influence of disturbance in the control system, a sliding mode control method was proposed based on a novel reaching law and disturbance observer. A novel reaching law was presented to solve the contradiction between sliding mode surface reaching time and the system chattering in the regular reaching law, and which can simultaneously improve the system response speed. A sliding mode disturbance observer (SMDO) was employed to estimate the system's lumped disturbances, such as parameter variations and external disturbances. The estimated value was utilized as a feed-forward to compensate for the speed controller and to further increase the anti-disturbance ability of the system. The switching gain of SMDO was designed as a function of the observed error of disturbance to suppress chattering of the sliding mode estimated value. The simulation results demonstrate that the novel reaching law has an improved dynamic system response speed compared to the regular reaching law and that it can accurately and rapidly track the step speed signal. The SMDO accurately observes the varying system disturbance. When load disturbance is added to the system, the maximum speed fluctuation under PI control is 75 r·min^-1, whereas the sliding mode control, which is based on the novel reaching law and disturbance observer, records a maximum speed fluctuation of 30 r·min^-1 and guarantees better and more robust system performance. The experimental results demonstrate that the system that relied on the proposed sliding mode control method can rapidly track a speed command of 400 r·min^-1 without overshoot. The regulation time is 0.12 s and the steady-state accuracy is ±4 r·min^-1. The SMDO can accurately estimate the system disturbance without overshoot while also improving the system's anti-disturbance ability. When the motor is operating at a steady speed of 400 r·min^-1 and then is added a 0.6 N·m load torque disturbance, the method based on the novel reaching law and disturbance observer gives a maximum speed fluctuation of 23 r·min^-1. This speed fluctuation represents a reduction of 8% compared to that with PI control. The simulation and experimental results are in good agreement. These results indicate that the proposed control method can improve the dynamic and robust performance of the speed servo system and effectively alleviate the chattering of the sliding mode control system.
- permanent magnet synchronous motor /
- sliding mode control /
- novel reaching law /
- disturbance observer /
- speed control

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參考文獻(19)

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