磁悬浮开关磁阻电机的自适应终端滑模控制

Adaptive terminal sliding mode control of bearingless switched reluctance motor

为解决磁悬浮开关磁阻电机受到外部环境未知干扰、内部参数摄动等不确定因素带来的影响,提出一种基于自适应终端滑模控制器的直接瞬时转矩及直接悬浮力控制策略.首先,对电机的数学模型进行分析并建立状态方程,采用直接瞬时转矩控制与直接悬浮力控制方法,以减小系统脉动;其次,设计非奇异终端滑模面,避免常规终端滑模控制中的奇异问题,并引入自适应律,结合终端滑模控制器以抑制不确定因素的干扰,保证系统的快速收敛、强鲁棒性;最后,与传统滑模控制器方法进行对比,验证该方法的有效性.仿真结果表明,所提出方法能迅速精准跟踪控制系统的转速及位移,有效提升状态收敛速度,抗扰能力强,具有良好的动态性能.

In order to solve the influence of uncertainties such as unknown external environment disturbance and internal parameter perturbation on bearingless switched reluctance motors, a direct instantaneous torque and direct suspension force control strategy based on an adaptive terminal sliding mode controller is proposed. Firstly, the mathematical model of the motor is analyzed and the state equation is established. Direct instantaneous torque control and direct suspension force control are used in the control system to reduce the fluctuation of the system. Then, the non-singular terminal sliding surface is designed to avoid the singular problem in the conventional terminal sliding mode control, and the adaptive law is introduced. The control system combines the terminal sliding mode controller to suppress the disturbance of uncertain factors and ensure the fast convergence and strong robustness of the system. Finally, the effectiveness of the method is verified by comparing the traditional sliding mode controller. The simulation results show that the method can quickly and accurately track the speed and displacement of the control system, effectively improve the convergence rate of state,and has strong anti-disturbance ability and good dynamic performance.