永磁同步电机无位置传感器反步超螺旋滑模控制方法

Position sensorless back-stepping hyperspiral sliding mode control method of permanent magnet synchronous motor

为了克服未知负载、机械摩擦及外界干扰等不确定力矩对永磁同步电机无位置传感器转速控制精度的影响,提出了一种反步超螺旋滑模控制方法。首先对永磁同步电机的三相坐标系、两相旋转坐标系和两相静止坐标系之间的转换关系进行分析,建立了永磁同步电机运动数学模型;然后针对速度环设计了反步控制律,对转速进行稳定跟踪,通过设计的观测器实时估计不确定力矩,并引入补偿电流来抑制不确定力矩对控制系统的扰动;最后针对电流环设计了超螺旋滑模控制律,实现对电机转速的高精度控制。仿真结果表明,设计的观测器可准确地估计出不确定力矩的大小,最大估计误差仅为0.01 N·m,提出的控制律能够有效克服不确定力矩的影响,使永磁同步电机转速保持较高的精度,最大误差仅为0.46 r/min,大幅改善了永磁同步电机动态控制性能。测试结果表明,设计的反步超螺旋滑模控制律具有更高的控制精度,RMSE、MAE和MAPE分别仅为0.3177 r/min、0.2525 r/min和0.03%,表现出了更强的鲁棒性和更优的工程适用性。

To overcome the influence of uncertain torque such as unknown load,mechanical friction and external interference on the speed control accuracy of position sensorless permanent magnet synchronous motors,a back-stepping hyperspiral sliding mode control method was proposed.Firstly,the conversion relationship between the three-phase coordinate system,two-phase rotating coordinate system and two-phase stationary coordinate system of the permanent magnet synchronous motor was analyzed,and a motion mathematical model of the permanent magnet synchronous motor was established.Then,a back-stepping control law was designed for the speed loop to stably track the speed,and the uncertain torque was estimated by the the designed observer in real-time.The compensation current was introduced to suppress the disturbance of uncertain torque to the control system.Finally,a hyperspiral sliding mode control law was designed for the current loop to achieve high-precision control of the motor speed.The simulation results show that the designed observer can accurately estimate the uncertain torque,and the maximum estimated error is only 0.01 N·m.The proposed control law can effectively overcome the influence of uncertain torque and maintain high accuracy of the permanent magnet synchronous motor speed,and the maximum error is only 0.46 r/min,greatly improving the dynamic control performance of the permanent magnet synchronous motor.The test results show that the designed back-stepping hyperspiral sliding mode control law has higher control accuracy,and the RMSE,MAE and MAPE are only 0.3177 r/min,0.2525 r/min and 0.03%,respectively,which exhibits stronger robustness and better engineering applicability.