基于负载观测的PMSM滑模抗扰动自适应控制

Anti-disturbance adaptive sliding mode control of PMSM based on load torque observer

实际转速值是转角微分得到的,基于转速的观测器设计会引入微分突变.本文在滑模变指数趋近率控制的基础上,针对实际应用的永磁同步电机(permanent magnet synchronous motor,PMSM)提出了一种新的负载转矩降阶观测器设计方法,以可直接测量的转角为已知观测对象,避免引入微分突变,将观测到的负载转矩成比例地前馈补偿,以削弱负载扰动对控制性能的影响,实现滑模抗扰动自适应控制.一方面,通过理论推导,得出所提出策略的理论计算方法;另一方面,以一应用案例,建立了与实际逼近的离散仿真系统.仿真验证了观测器的无超调和快速响应特性,并通过与普通滑模控制对比分析,验证了采用该方法设计的PMSM调速系统具有动态响应快和抗外界干扰能力强的高鲁棒特性.

The actual rotate speed is the differential of angle, so the designed observer based on the rotate speed would introduce differential mutation. A novel load torque reduced order observer design method was proposed for the practical application of PMSM （permanent magnet synchro- nous motor）. The new method took the directly measured corner as the known observe object, a- voiding the introduction of differential mutation, and proportionally feedback compensated with the observed load torque to weaken the influence of the load disturbance to the control performance, realizing anti-disturbance adaptive control of sliding mode control. On the one hand, we obtained the theoretical calculation method of the proposed strategy; on the other hand, we es- tablished discrete simulation system approaching to the reality based on one application case. Simulations verify the no overshoot and fast response characteristics of the observer, and validate the fast dynamic response and good resistance to outside disturbance ability and high robustness characteristics of PMSM speed control system with the method proposed by comparative analysis with the ordinary SMC（sliding mode control）.