改进滑模变结构永磁电机控制器研发

Control design for permanent magnet synchronous motors based on improved sliding mode variable structure control

为克服传统滑模观测器对永磁同步电机进行无传感器控制时存在高频抖振和转子位置估算不精确的缺陷,提出一种基于改进滑模观测器的PMSM控制器设计方法。首先,建立PMSM的数学模型并分析传统滑模观测器转子位置估计原理和缺陷,然后,采用低通滤波器对电流误差开关信号进行滤波并对转角进行补偿,采用饱和函数代替开关函数以减少滑模运动的高频抖动,最后,采用李亚普若夫稳态判定方程证明设计的改进观测器的稳定性。系统测试表明:该方法能较为准确地对PMSM的转子位置和速度进行估算,具有较高的估算精度。

In order to overcome the defects of chattering and the inaccuracy estimation of rotor position when the traditional sliding mode observer was used to control the PMSM, a design method based on improved sliding mode observer was proposed. Firstly, the mathematical model of PMSM was given and the rotor position estimation principle and its defects of the traditional sliding mode observer were analyzed. Then, the low pass filter was used to filter the current error switch signal and compensate the rotor angle, and the saturation function was used to replace the switch function for reducing the chattering. Finally, the stability was proved to build the equation. Experimental results show that this method can estimate the speed and rotor position with high accuracy. It is proved as an effective control method for PMSM.