基于负载转矩观测器的永磁同步电动机模糊滑模控制

Fuzzy Sliding Mode Control of PMSM Based on Load Torque Observer

永磁同步电动机是一个复杂的非线性、强耦合系统,虽然传统的PID已经广泛应用,但对于高精度伺服系统仍然不能满足要求。由于滑模控制和模糊控制均不依赖被控对象系统的模型,结合两者的优点,设计了基于模糊前馈补偿的滑模控制器,针对负载扰动设计了负载观测器并反馈到控制系统中,利用模糊控制对输入进行补偿。仿真和实验结果表明,负载观测器能够快速准确地估算出负载的扰动,转速前馈补偿有效地削弱了滑模的抖动,负载补偿降低了转速的抖动,并且计算简单,无需对硬件做出改动,便于工程实现。

The permanent magnet synchronous motor（ PMSM） is a complex non- linear,coupled system. Traditional PID control method has been widely used in the speed control of PMSM,but it can＇t meet the requirements for high precision servo system. Combining the advantages of sliding mode control system and fuzzy control system the fuzzy feedforward using siding mode control was proposed because both of them don＇t rely on the model of the controlled system. A load observer for the load torque disturbance was designed and feed back to the control system using fuzzy control for compensation of input. The simulation and experimental results show that the load observer can quickly and accurately estimate the load disturbance. The speed feedforward compensation can effectively reduce dithering and the load compensation reduces the jitter of speed. This algorithm needs a small amount of software changes to the original system,the structure and algorithm are both simple.