基于非线性干扰观测器的PMSM自适应反演滑模控制

Adaptive Inversion Sliding Mode Control of Permanent Magnet Synchronous Motor Based on Nonlinear Disturbance Observer

为了解决永磁同步电机(PMSM)位置伺服系统中存在的内部参数摄动、负载扰动以及外界不确定性干扰等问题,设计了基于非线性干扰观测器(NDO)的自适应反演滑模控制器。通过NDO对系统存在的扰动进行观测,并将观测结果引入到自适应反演滑模控制器进行补偿。针对引入NDO后的系统,设计自适应反演滑模控制器,对滑模控制器中的切换增益利用自适应律进行调节,削弱系统抖振,提高系统的抗干扰能力和鲁棒性。仿真结果表明,与传统反演滑模控制相比,基于NDO的自适应反演滑模控制器对系统中存在的扰动具有更好的抗干扰能力,该控制器可削弱系统的抖振,从而提高了PMSM位置伺服系统的跟踪精度。

In order to solve the problems of internal parameter perturbation,load disturbance and external uncertainties in permanent magnet synchronous motor(PMSM)position servo system,an adaptive inversion sliding mode control in view of the nonlinear disturbance observer(NDO)was designed.The disturbances in the system were observed by NDO,and the observations were introduced into the adaptive inversion sliding mode controller for compensation.For the system with NDO,an adaptive inversion sliding mode controller was proposed.The switching gain in the sliding mode controller was adjusted by the adaptive law,which weakened the system chattering and improved the anti-interference ability and robustness of the system.The simulation results showed that compared with the traditional inversion sliding mode control,the designed NDO-based adaptive inversion sliding mode controller had better anti-interference ability to the disturbance in the system.The controller can weaken the system chattering and improve the tracking accuracy of the PMSM position servo system.