永磁同步电机模糊自整定自适应积分反步控制

Fuzzy Self-Tuning Adaptive Integral Backstepping Control for Permanent Magnet Synchronous Motor

为提高永磁同步电机伺服系统的动态响应性能,解决内部参数摄动和外部负载扰动对系统影响的问题,提出一种永磁同步电机模糊自整定自适应积分反步控制方法。将dq轴电流误差积分项引入自适应反步控制器控制律中,构成自适应电流误差积分反步控制器,实现对dq轴电流给定的精确跟踪,提高dq轴电流控制系统对内部参数摄动的鲁棒性。在此基础上,设计模糊推理模块,应用于自适应积分反步控制器,系统根据电机转速误差及其变化率自适应在线整定转速反馈增益及自适应增益,进一步提高系统的转速动态响应性能。实验结果验证了该控制方法的有效性和可行性。

To improve the dynamic response of permanent magnet synchronous motor(PMSM) servo system and solve the problem of internal parameters perturbation and external load disturbance, a fuzzy self-tuning adaptive integral backstepping control method for PMSM is proposed. The dq axis current error integral terms are introduced into the control law of the adaptive backstepping controller(ABC) to form the adaptive current error integral backstepping controller(AIBC). It can track the given dq axis current accurately and improve the robustness of the dq axis current control to the internal parameter perturbation of the system. On this basis, the fuzzy reasoning module used in the AIBC is designed. According to the motor speed error and its rate of change, the system can adjust the speed feedback gain and adaptive gain online adaptively, further improving the dynamic response performance of the system. Experimental results verify the effectiveness and feasibility of the control method.