基于滑模观测器永磁同步电机迭代学习控制

The Iterative Learning Control of PMSM Based on Sliding Mode Observer

针对永磁同步电机存在的周期性脉动问题,提出了一种二阶PD型迭代学习控制策略(ILC),然后利用Lebesgue-p范数对系统误差进行分析,使它严格意义上满足单调收敛性。将一阶和二阶迭代学习控制的收敛速度进行了比较,得出二阶PD型迭代学习控制性能更优。同时提出二阶滑模观测器估算转子位置,通过配置比例、微分增益可获得快速收敛速度。最后,系统仿真及实验证明了系统的有效性。

In order to solve the problem of torque ripple of permanent magnet synchronous motor（PMSM） , a second- order PD-type iterative learning control strategy was raised, Lebesgue-p norm was used to analyzed the system tracking er- ror, so that it strictly satisfies the monotonic convergence. The convergence speed of the first-order and the second-order ILC rule was compared, turn out that the second-order PD-type iterative learning control was better. The two-order sliding mode observer was proposed for rotor position estimation, the observer could achieve fast convergence speed through propor- tion and integral gain. Lastly, Simulation and experimental results show the effectiveness of the system.