基于非线性干扰观测器的矿用电机鲁棒滑模控制

Robust Sliding Model Control for Mining Motor Based on Nonlinear Disturbance Observer

为了提高永磁同步电机调速系统的控制性能,提出了一种基于非线性干扰观测器的鲁棒滑模速度控制器。首先建立了包含负载扰动的永磁同步电机数学模型,为了减少扰动量的影响,采用非线性干扰观测器进行在线估计,并以此得到的观测值作为前馈量补偿到滑模控制器的输入端。最后与PI控制器进行仿真比较,结果表明,该算法提高了系统的响应速度,减小了稳态误差。

In order to improve the control performance of permanent magnet synchronous motor （PMSM） drive system, a robust sliding mode control with nonlinear disturbance observer is proposed. Firstly, the mathematical model of PMSM composed of disturbance is established, in order to estimate the disturbance caused by model parameters variation and load change, a nonlinear disturbance observer is employed, and then this estimated value is used to construct a feed-forward compensation which is added to the controller input. All the simulation results are showed that the arithmetic has the advantages of faster response, less stabilization error compared to PI controller, and also the vibration is restrained effectively.