表面式永磁同步电机无源非奇异快速终端滑模控制

Passivity-Based Control and Nonsingular Fast Terminal Sliding Mode Control for SPMSM

考虑逆变器非线性因素对调速系统的影响,从能量和鲁棒性的角度研究了表面式永磁同步电机(SPMSM)调速系统。首先推导了包含逆变器的SPMSM系统统一端口受控耗散哈密顿系统(PCHD)数学模型,基于能量成形方法和PCHD原理,设计了SPMSM调速系统的无源控制器,简化了控制算法,保证了系统全局稳定,逆变器非线性扰动由扩张状态观测器进行补偿。针对速度外环响应速度慢、鲁棒性差的问题设计了非奇异快速终端滑模速度控制器并得到q轴期望的电流。仿真和实验结果表明,所提控制方法使转速跟踪速度快、鲁棒性强,提高了整个系统的动静态性能。

Considering the influence of inverter's nonlinear factors on the speed control system, surface permanent magnet synchronous motor(SPMSM) speed control system is researched from the perspective of energy and robustness. Firstly, the unified port-controlled Hamiltonian systems with dissipation(PCHD) modeling including inverter is established, so the passive controller of the SPMSM drive system is designed based on the interconnection and damping assignment of energy-shaping method and PCHD theory, which could simplify control algorithm and ensure global stability. Nonlinear disturbance caused by the inverter is compensated using the extended state observer. A nonsingular fast terminal sliding mode control to obtain a faster speed and the better robustness for the speed loop is designed in order to obtain desired q axis current. Simulation and experimental results show that the proposed method can ensure strong robustness, accurate and fast speed control performance, and improve steady, dynamic performance of speed control system.