基于终端滑模负载观测器的永磁同步电机位置系统反步控制

Backstepping control of PMSM position systems based on terminal-sliding-mode load observer

针对永磁同步电机位置控制系统存在负载扰动情况下的控制精度低,响应速度慢的问题,提出了一种基于终端滑模负载观测器的反步控制方法。设计了基于非奇异终端滑模的负载观测器,使观测误差在有限时间内收敛,并将观测值动态补偿到控制器中,提高了系统的控制精度;基于非奇异终端滑模和反步法设计位置控制器,提高了系统状态的收敛速度,增强了系统的鲁棒性,通过Lyapunov稳定性判定法证明了系统的稳定性。仿真结果表明,设计的终端滑模负载观测器能够快速、准确地估计出负载转矩,位置控制器能有效实现系统位置的渐近跟踪。

For the problem of low control precision,and the low response speed of permanent magnet synchronous motor（ PMSM） position control system in the presence of load disturbance,a backstepping control method based on terminal sliding mode load observer was proposed. Firstly,a terminal-sliding-mode load observer which improves the observer convergence rate was designed to estimate load torque. It improves the control precision of the system. Then,a position controller based on nonsingular terminal sliding mode and backstepping was designed. The proposed position controller has good dynamic and static performance,which enhances the robustness,Finally,through the method of Lyapunov stability demonstrated the stability of the system. The simulation results show that observer estimate the load torque quickly and accurately,and the position controller also tracks the given signal effectively.