基于滑模ESO转速辨识的永磁同步电机滑模自抗扰控制

Sliding mode auto disturbance rejection control of PMSM based on sliding mode ESO speed identification

针对传统的自抗扰控制(ADRC)方法参数整定和响应速度问题,提出了一种新型的滑模自抗扰控制结构,构成了基于滑模扩张状态观测器(ESO)转速辨识的永磁同步电机(PMSM)滑模自抗扰调速系统。利用非线性干扰观测器(NDOB)取代ESO的综合扰动估计项,并对q轴电流以及d轴、q轴电压进行直接补偿,同时将滑模控制引入到非线性状态误差反馈控制律中,设计了滑模自抗扰电流控制器和速度控制器。在ESO转速辨识中引入滑模控制,得到电机的转速估计值和转子位置,构成基于滑模ESO转速辨识的永磁同步电机调速系统,利用李雅普诺夫理论证明其稳定性。仿真结果表明了该方法的有效性。

Aiming at the problem of parameter setting and response speed of the traditional Active Distrubance Rejection Control（ ADRC） method, a kind of novel sliding mode auto-disturbance rejection speed controller was designed, and a sliding mode adaptive speed control system of Permanent Magnet Synchronous Motor（ PMSM） without speed sensor was established.The Nonlinear Disturbance OBserver（ NDOB） was used to replace the Extended State Observer（ ESO） integrated disturbance estimation, while the q axis current and the d axis and the q axis voltage were compensated directly. The sliding mode control was introduced in the nonlinear state error feedback control, and the sliding mode ADRC current controller and speed controller were designed. At the same time, in the ESO speed identification, the sliding mode control was introduced to obtain the rotor speed estimation and rotor position, so a system of PMSM without speed sensor was established, and its stability was proved by using Lyapunov theory. The simulation results show the effectiveness of the method.