含不确定参数的永磁同步电机位置自适应控制

Adaptive position control of permanent magnet synchronous motors with parameter uncertainties

针对永磁同步电机(PMSM)数学模型结构复杂以及含有不确定参数的问题,通过引入一个合适的状态变换,把原系统转换为一类比较规范的、易于处理的非线性系统的简单形式,再依据反步法的设计原理,给出了PMSM位置自适应控制器的设计方案。理论分析表明,该方案能够克服系统中不确定参数的影响,保证了系统全局稳定和所有信号全局有界,并且位置输出渐近跟踪参考信号;仿真结果也证实该控制器具有快速、稳定、无超调等优点,而且能够保证位置跟踪误差很快趋近于零,实现了控制精确度的要求。

The permanent magnet synchronous motor （PMSM） has complicated structure and uncertain parameters in its mathematical model. A simply canonical form of the system is imposed through a state transformation; second, the PMSM position adaptive controller is designed, using the backstepping method. This theme, which overcomes the problem of uncertain parameters, not only can guarantee the global stability and the global boundness of all signals, but also asymptotically track the reference signal. The simulation results verify the controller can arrive to the desired precision, which has the advantages of rapid response, stability, no over-shoot etc. and assures that the position tracking error asymptotically converges to zero.