永磁同步电机自适应非奇异终端滑模控制

Permanent Magnet Low-speed Synchronous Motor Adaptive Variable-rated Nonsingular Terminal Sliding Model Control

针对永磁同步电机（Permanent Magnet Synchronous Motor，PMSM）运行在低速轻载条件时存在的转速脉动及电磁转矩脉动问题，提出了一种自适应变速非奇异终端滑模速度控制器。首先建立了包含参数不确定性及负载扰动的PMSM数学模型，同时为了解决传统指数趋近律存在的缺点，设计了一种自适应变速指数趋近律算法，该方法能够根据系统状态距离平衡点的远近而自适应调整等速趋近律速度。应用此方法设计PMSM滑模速度控制器，并与常规滑模控制器和PI控制器进行仿真比较，结果表明该算法不仅提高了系统的响应速度，减小了稳态误差，同时也有效地抑制了脉动现象。

In order to solve the vibration problems of the rotate speed and electromagnetism torque when the permanent magnet synchronous motor （PMSM） runs at low-speed and light load conditions, an adaptive nonsingular terminal siding mode speed control scheme is proposed in this paper. Firstly, the mathematical model of PMSM composed of parameter uncertainties and distmbances is established, and a novel reaching law method is designed to solve the existing problem in the traditional exponential reaching law, which can adaptively adjust according to the state variables＇ distance to the equilibrium position. The novel control method is applied to the PMSM drive system, all the simulation results show that the arithmetic has the advantages of faster response, less stabilization error compared to the traditional SMC and PI controller, and also the vibration is restrained effectively.