基于ESO的PMSM二阶滑模无差拍预测电流控制

Second Order Sliding Mode Deadbeat Predictive Current Control of PMSM Based on ESO

针对永磁同步电机(PMSM)传统矢量控制系统的比例积分(PI)控制器易受电机参数和负载扰动的影响,导致调速系统鲁棒性差的问题,提出了一种基于扩张状态观测器(ESO)的PMSM二阶滑模无差拍预测电流控制(DPCC)策略。首先设计了基于ESO的二阶滑模速度控制器,并运用李雅普诺夫函数证明了其稳定性,在消除抖振的同时,提高了速度控制器的鲁棒性;然后,在电流环控制器中,采用DPCC,结合ESO对总扰动量D进行估计并分别对d轴和q轴进行补偿,提高了电流环的鲁棒性;最后进行了仿真和半实物实验验证,仿真及实验结果表明所提算法能够实现快速精确控制,明显提高了系统的鲁棒性。

In allusion to the problem of poor robustness of speed regulation system,which results from that the proportional integral(PI)controller of traditional vector control system of permanent magnet synchronous motor(PMSM)is easy to be affected by motor parameters and load disturbance,a second order sliding mode deadbeat predictive current control(DPCC)strategy of PMSM based on extended state observer(ESO)is proposed.Firstly,a second order sliding mode speed controller based on ESO is designed,whose stability is proved by Lyapunov function,and it improves the robustness of the speed controller while eliminating chattering.Then,in the current loop controller,use DPCC,combined with the ESO to estimate the total disturbance D and compensate the d-axis and q-axis respectively,so as to improve the robustness of the current loop.Finally,simulation and hardware in the loop experiments are carried out,simulation and experimental results show that the proposed algorithm can realize fast and accurate control which significantly improve the robustness of the system.