电机转速环节Super-Twisting算法二阶滑模控制律设计与研究

Second-Order Sliding Mode Control Based on Super-Twisting Algorithm for the Speed Outer Loop of Motors

针对电机转速环节,研究了以Super-Twisting算法(STA)为基础的转速闭环二阶滑模控制律设计方法,无需对转速求导或求解转速极值。利用Lyapunov函数证明了系统的稳定性,并分析了系统中比例滑模项对系统收敛的稳定性和快速性的影响,以及不同类型比例滑模项的共同点与区别。仿真结果表明,在STA基础上人为增加比例滑模项可以提高系统的收敛速度,而不受系统工作状态影响,并且不改变系统的STA二阶滑模特性。由于各种电机都具有统一的转子运动方程,因此,研究结果对各种电机的转速环节二阶滑模闭环控制具有通用性。

Aiming at the speed outer close-loop control for the motors, the design method of the second-order slid-ing mode control law based on the Super-Twisting algorithm（ STA） is researched, which doesn′t need the derivative or the extreme value of the speed. The stability is proved by using Lyapunov function. And the influence for the sys-tem stability and the rapidity of convergence by the proportional of the sliding mode variable is analyzed, also the commonality and the differences of the various types proportional of the sliding mode variable. Simulation results show that the introduced proportional of the sliding mode variable in STA can improve the convergence speed of the system regardless of the running state of the motor, and the STA second-order sliding mode features of the motor system is not changed. Due to the unified rotor motion equation, the analyzed result of this paper is general to the speed loop second-order sliding mode control for all kinds of motors