基于负载观测器的永磁同步电机终端滑模控制系统设计

Design of terminal sliding mode control system of permanent magnet synchronous motor based on load observer

为了实现永磁同步电机的高精度控制,提出一种非奇异快速终端滑模的控制策略,将其应用到电机控制系统的位置环与速度环,同时针对负载扰动问题,依据龙伯格(Luenberger)观测器的原理设计了一种负载转矩观测器,利用负载转矩观测器来观测电机负载转矩变化。通过Simulink仿真验证了该算法的有效性和可行性。该设计不仅可以提高电机位置跟踪精度,而且能减小负载扰动对电机伺服系统控制性能的影响和负载转矩的变化对系统的影响,增加了系统的鲁棒性。

In order to achieve high-precision control of permanent magnet synchronous motors,a non-singular fast terminal sliding mode control strategy is proposed and applied to the position loop and speed loop of the motor control system.At the same time,for the load disturbance problem,based on the principle of the Luenberger observer,a load torque observer is designed,and the load torque observer is used to observe the motor load torque changes in real time.Simulink simulation verifies the effectiveness and feasibility of the algorithm.It is concluded that this design can not only improve the position tracking accuracy of the motor,but also reduce the influence of load disturbance on the control performance of the motor servo system and the influence of the change of load torque on the system performance,thereby increasing the robustness of the system.