基于扰动观测器的PMSM同步协调滑模控制

Sliding Mode Control for PMSM Synchronous Coordination Based on Disturbance Observer

针对在负载扰动情况下多永磁同步电机控制系统出现电机转速不同步的问题,提出了基于扰动观测器的永磁同步电机同步协调滑模控制策略。从单电机高性能控制策略和三电机耦合结构角度出发,首先,在矢量控制基础框架下,设计了基于非线性负载转矩观测器的积分型滑模速度控制器,构成了单电机高性能矢量控制调速系统;其次,提出了一种基于PI速度补偿器的偏差耦合控制结构,相比传统的偏差耦合控制结构能较好地实现在负载扰动下三电机的转速同步协调运行。最后通过仿真验证了方法的有效性。

In order to solve the problem that motor speed is not synchronized in the control system of multiple permanent magnet synchronous motors(PMSM)under load disturbance,a sliding mode control strategy based on disturbance observer for PMSM synchronous coordination is proposed.Starting from the high performance control strategy of single motor and the coupling structure of triple-motor,firstly,an integral sliding mode speed controller based on nonlinear load torque observer was designed in the framework of vector control,which constitutes a single motor high performance vector control speed regulation system.Secondly,a relative coupling control structure based on PI speed compensator was proposed.Compared with the traditional relative coupling control structure,the synchronization speed of the triple-motor can be coordinated under the load disturbance.Finally,the effectiveness of the method is verified by simulation.