永磁同步电机调速系统的非线性鲁棒滑模控制

Nonlinear robust sliding mode control of permanent magnet synchronous motor speed regulation system

针对表面式永磁同步电机(SPMSM)调速系统中存在电机内部参数摄动和外部负载扰动等不确定因素时影响调速系统鲁棒性的问题,提出带扩张状态观测器(ESO)滑模速度控制的永磁同步电机调速系统H∞鲁棒整形电流控制算法。首先,基于端口受控耗散哈密顿(PCHD)标称数学模型设计了整形控制器,在此基础上考虑参数摄动和负载扰动构建了H∞鲁棒电流控制器,由此得到了H∞鲁棒整形电流控制器,改善了电流控制的动态品质和鲁棒性;然后,采用滑模控制(SMC)设计了速度控制器,利用扩张状态观测器估计综合干扰项d^,从而得到q轴期望的电流iq^*,间接改善滑模固有抖振问题的同时进一步增强了调速系统中存在综合干扰因素时的鲁棒性。最后,通过仿真和半实物仿真实验验证了所提出控制策略的有效性和可行性。

The robustness of the speed regulation system gets worse when there exist uncertainties such as the inner parameter perturbation of the motor and the ourter load disturbance in the surface permanent magnet synchronous motor(SPMSM)speed regulation system.To solve the problem,the H∞robust shaping current control algorithm of the permanent magnet synchronous motor speed regulation system is proposed based on the sliding mode speed control with an extended state observer(ESO).Firstly,on the basis of the port controlled hamiltonian with dissipation(PCHD)nominal mathematical model,a shaping controller was designed.Then,considering the parameter perturbation and the load disturbance,a H∞robust current controller was constructed.So a H∞robust shaping current controller was obtained,which improves the dynamic characteristic and robustness of current control.Secondly,a speed controller was designed by adopting the sliding mode control(SMC),and the ESO was used to estimate the comprehensive disturbance term d^.Thus,the desired current of the q axis iq^* is obtained,which suppresses the inherent chattering problem of sliding mode control indirectly and enhances the robustness of the speed regulation system in the presence of comprehensive interference factors further.Finally,the effectiveness and availability of the control strategy were verified by simulation and the hardware in the loop simulation experiment.