永磁同步电机无位置传感器双滑模鲁棒控制

Doubly-sliding-mode based sensorless robust control of PMSM

基于表面式永磁同步电机在二相坐标下的数学模型,采用滑模变结构方法设计了由滑模控制器和扩展滑模观测器组成的鲁棒控制系统。针对电机参数摄动和负载扰动对驱动性能的影响,以转速误差为参量建立滑模面,构造滑模速度控制器以取代目前在大多数控制方案中使用的PI控制器,利用Lyapunov理论推导出自适应速度控制律,得出速度控制的参考电流和参考电压表达式。由扩展滑模观测器估算转子速度和位置,分析得到观测器的收敛条件及自适应率,证明了其稳定性。理论分析表明该方案的控制器和观测器性能不依赖于电机参数和负载干扰,具有较强的鲁棒性。仿真结果验证了控制方案的有效性与正确性。

A robust control scheme on the model of surface permanent magnet synchronous motor, composing of a sliding-mode controller and a sliding-mode observer, was presented in this paper. To climate the effects of parameters＇ variation and uncertainties, the sliding-mode controller was constructed instead of conventional PI controller as well as the self-adaptive rule was deduced using Lyapunov stability theory. Hence, the required voltage and current for the desired speed was solved. The sliding-mode observer was employed to estimate the rotor position and speed. Convergence conditions and cotrolling rules for the estimated algorithm were also obtained by utilizing Lyapunov theory. Theoretical analysis proved that the scheme is robust to the parameters＇ variation and uncertainties. Computer simulations were conducted and the results testify the effectiveness and correction of the proposed scheme.