基于NDOB的滑模速度调节PMSM的NLSEF电流控制

NLSEF Current Control of PMSM with Sliding Mode Speed Regulation Based on NDOB

为了解决永磁同步电机调速系统PI控制器鲁棒性差、动态响应慢的问题,在矢量控制基础上,提出了基于干扰观测器的滑模速度控制和非线性状态误差反馈电流控制的级联式永磁同步电机双环调速系统。首先,设计了基于干扰观测器的滑模速度控制器,得到期望电流iq*,提高了速度的鲁棒性和响应速度;然后,将滑模速度控制器输出的iq*与iq的差值作为非线性状态误差反馈控制律的输入,并且利用干扰观测器估计的扰动量作为q轴电压值的补偿,增强了电流的鲁棒性和快速性;最后,通过仿真和实验验证了控制策略的有效性。

In order to solve the problem that the PI controller for permanent magnet synchronous motor(PMSM)speed control system is weak in robustness and dynamic performances,on the basis of the vector control,a cascade type PMSM dual-loop speed control system is designed,which has sliding mode speed control(SMC)and nonlinear state error feedback(NLSEF)current control based on nonlinear disturbance observers(NDOB).Firstly,sliding mode speed controller based on NDOB is proposed to acquire the expected current iq*,which improves the robustness and responsive velocity of speed loop.Secondly,the difference between iq*and iq output by sliding mode speed controller is used as the input of NLSEF control law and the disturbance estimated by NDOB is used to compensate voltage for q axis directly,which enhances the robustness and rapidity of current control.Finally,the simulation and experiment verify the effectiveness of the proposed control strategy.