基于ESO的永磁同步电机位置伺服系统滑模变结构反步控制

Sliding Mode Variable Structure Backstepping Control of Permanent Magnet Synchronous Motor Position Servo System Based on ESO

永磁同步电机是一个多变量、强耦合、非线性时变系统,在位置控制过程中易受外部负载扰动影响,为了提高伺服系统的鲁棒性,提出了一种基于扩张状态观测器的永磁同步电机位置滑模变结构反步控制方法。在永磁同步电机数学模型的基础上,提出了将反步控制与滑模变结构结合在一起的控制方法,提高了系统快速响应性以及对外界扰动的抑制能力;设计了扩张状态观测器(ESO)对外部负载扰动进行实时观测,及时对控制量进行调整,有效地减小滑模变结构中的趋近律参数。仿真结果表明,本文设计控制器能够实现高精度的给定位置跟踪控制,对于负载扰动具有强的抑制能力。

Permanent magnet synchronous motor is a multi-variable and strong-coupled,nonlinear timevaryingsystems,position control vulnerable to external disturbances influence,in order to improve therobustness of the system,is presented based on the extended State observer for permanent magnetsynchronous Motors backstepping sliding mode variable structure control method.Based on themathematical model of permanent magnet synchronous motor,the control method combiningbackstepping control with sliding mode variable structure is proposed,which can improve the fastresponse of the system and restrain the disturbance of the external field;The extended state observer(ESO)was designed for external load disturbance can be observed in real time,timely to control theamount of adjusted effectively reduce the sliding mode variable structure parameters of the reaching law.The simulation results show that the controller can achieve high precision tracking control of a givenposition,and has a strong ability to restrain the load disturbance.