基于电流解耦的感应电机高阶终端滑模控制

High-order terminal sliding mode control for induction motors based on current decoupling

为提高感应电机转速控制系统的性能，提出了速度环、电流环的高阶非奇异终端滑模控制方案。该方案通过设计非奇异终端滑模面来提高系统的响应速度和控制精度；通过设计高阶滑模控制律以直接获得平滑的控制信号，有效削弱常规滑模的抖振现象；对速度环，考虑了系统负载转矩和转动惯量的变化，所设计的高阶滑模控制律使系统具有良好的鲁棒性；对电流环，利用电压补偿实现交、直轴电流完全解耦，提高电流控制器的动态性能。仿真结果表明，该方案有效地消除了常规滑模存在的抖振现象，并且跟踪精度高，对负载扰动及转动惯量变化具有较强的鲁棒性。

For improvement of the performance of the speed control system of induction motors, a high-order nonsingular terminal sliding mode control scheme for the speed loop and the current loop was proposed. According to the scheme, nonsingular terminal sliding modes were designed to improve the response speed and precision, High-order sliding modes were adopted to obtain smooth control signals directly, eliminating the chattering phenomenon in the conventional sliding mode effectively. With respect to the speed loop, taking the inertia change and load torque dis- turbance into consideration, a high order sliding mode control law was designed to guarantee the robust of the sys- tem. For the current loop, the decoupling of the stator current was achieved using the voltage compensation; the dynamic performance of the current controller was improved. The simulation results show that the proposed method can eliminate the chattering phenomenon in the conventional sliding mode obviously with the high precision, and is robust to inertia change and load disturbance.