基于滑模自适应鲁棒的超高速电机调速控制

Robust speed control for ultra-high-speed motorized spindle based on sliding mode adaptive algorithm

针对超高速铣削永磁同步电主轴高性能、高精度的控制需求,设计了一种滑模变结构自适应鲁棒控制器。该控制器利用滑模变结构控制产生滑动模态,削弱了建模误差的影响;利用自适应鲁棒控制减少了电主轴超高速运行中受外界扰动和系统内部参数摄动的影响。针对超高速运行的电主轴控制器控制周期时间短的特点,设计了基于比例谐振的电流矢量控制器,在保证电流控制效果的前提下减少了坐标变换和电流解耦,降低了控制算法实现的难度。仿真结果表明:基于比例谐振控制的电流矢量控制器能对给定电流进行较好跟随,滑模自适应鲁棒调速控制器具有良好的控制性能,并对负载扰动具有较强的鲁棒性。

A sliding mode controller with adaptive robust control scheme controller is designed to meet the requirement of high performance and high accuracy of ultra-high-speed milling PMSM. The controller uses sliding modal variable structure control to generate sliding mode,which weakens the influence of inaccurate model.When the ultra-high-speed spindle is operating,the influence of the external disturbance and the perturbation of the internal parameters are reduced by the adaptive robust control. For the short time of the control period,the current vector controller based on proportional resonant control is designed to reduce the coordinate transformation,the current decoupling and the difficulty of the control algorithm with good performance of current control.The simulation results show that the current vector controller with proportional resonant control can follow the given current well,and the sliding mode adaptive robust speed controller can accurately estimate the parameters of the system and have good control performance and strong robustness with load disturbance.