基于特征模型的PMSM调速系统离散自适应滑模控制

Discrete adaptive sliding mode control based on characteristic model for PMSM speed regulation system

针对大负载惯量比、负载惯量不确定和负载转矩扰动的永磁同步电机调速系统,提出了一种基于特征模型的离散自适应滑模控制器(DASMC)设计方法。建立了永磁同步电机调速系统的特征模型,利用带遗忘因子的递推最小二乘法在线辨识该特征模型的时变参数。基于辨识得到的参数设计了一种自适应控制和滑模控制相结合的伺服系统速度控制器,并通过引入一种双幂次趋近律减小了抖振,证明了闭环系统的稳定性。仿真结果表明,该文方法可适应10倍以下的负载惯量变化,并对负载转矩扰动具有较强的鲁棒性,可确保系统具有良好的动态性能和稳态精度。

Aiming at a permanent magnet synchronous motor（ PMSM） speed regulation system with large load inertia ratio,uncertain load inertia and load torque disturbance,a discrete adaptive sliding mode controller（ DASMC） based on characteristic model is proposed. A characteristic model of the PMSM speed regulation system is established,and the recursive least square algorithm with forgetting factor is adopted to identify the time-varying parameters of the characteristic model. A speed controller of a servo system is constituted by an adaptive controller and a sliding mode controller based on the identified parameters. Double power reaching law is adopted to reduce system chattering. The stability of the closed-loop system is verified. Simulation results show that the proposed method can adapt to ten times below load inertia variety,and has strong robustness to load torque disturbance,and insures the dynamic performance and steady-state precision of the PMSM speed regulation system.