基于LMI的永磁同步电机鲁棒H_(∞)自补偿滑模控制

Robust H_(∞)self-compensation sliding mode control of a permanent magnet synchronous motor based on linear matrix inequality

针对传统矢量控制方案由滑模增益选择保守造成抗负载扰动与参数摄动等不确定因素的鲁棒性差的问题,设计了基于线性矩阵不等式(LMI)的鲁棒H_(∞)滑模速度控制器和电流控制器。在速度控制器设计中,将求解H_(∞)状态反馈控制器增益问题转化为求解具有约束条件的LMI问题,从而求出H_(∞)状态反馈控制器增益,构成滑模面。在此基础上,设计出基于范数有界的滑模控制律,使系统状态可以实现有限时间内到达所需滑模面。在电流控制器设计中,同理设计出滑模面与滑模控制律,对于滑模控制律中的复合项采用自适应方式进行估计,消除了滑模开关增益选择的保守性。仿真与实验验证了所提控制策略的有效性。

The conventional vector control method is vulnerable to the influence of uncertainties such as load disturbance and parameters perturbation due to conservative selection of sliding mode gain.Thus a robust H_(∞)sliding mode speed controller and current controller based on Linear Matrix Inequality(LMI)are designed.When designing the speed controller,the solution of the H_(∞)-state feedback controller gain is transformed into the solution of the LMI with constraints,so that the H_(∞)-state feedback controller gain is obtained,and the sliding mode surface is formed.Furthermore,a sliding mode control law based on being norm-bounded is designed.This enables the state of the system to reach the required sliding mode surface within a limited time.When designing the current controller,the sliding mode surface and sliding mode control law are designed in the same way.The composite term in the sliding mode control law is estimated by an adaptive method which eliminates the conservative selection of sliding mode switch gain.Finally,the effectiveness of the proposed control strategy is verified by simulation and experiment.