电动汽车用永磁同步电机宽速域抗干扰滑模控制

Wide Speed Domain Anti-Interference Sliding Mode Control of Permanent Magnet Synchronous Motor for Electric Vehicle

针对电动汽车内置式永磁同步电机(IPMSM)的宽速域鲁棒抗扰转速跟踪问题,提出了一种高性能IPMSM非线性控制技术。其中采用最大转矩电流比(MTPA)方案和弱磁方案实现了IPMSM的宽速域运行,并通过泰勒展开对算法进行了化简。考虑消除虚拟控制器的微分噪声,引入二阶滑模微分器对其导数进行了估计,并设计了误差补偿信号。此外,为了提高系统在宽速域运行下的抗干扰能力,设计了一种扰动观测器估计负载转矩,对控制器进行了前馈补偿,并结合积分滑模控制(SMC)增强了系统的鲁棒性。最后,通过李雅普诺夫稳定性判据证明了系统的稳定性。基于FPGA搭建了IPMSM硬件在环(HIL)平台,验证了本文设计的控制器具有优异的抗干扰能力和鲁棒性。

Aiming at the wide speed range robust disturbance rejection speed tracking problem of interior permanent magnet synchronous motor(IPMSM)in electric vehicles,a high performance IPMSM nonlinear control technology is proposed.The maximum torque pea ampere(MTPA)scheme and flux weakening scheme are used to realize the wide speed range operation of IPMSM,and the algorithm is simplified by Taylor expansion.To eliminate the differential noise of the virtual controller,a second-order sliding mode differentiator is introduced to estimate its derivative,and an error compensation signal is designed.In addition,to improve the anti-interference ability of the system in the wide speed range,a disturbance observer is designed to estimate the load torque,the feedforward compensation is performed on the controller,and the integral sliding mode control(SMC)is combined to enhance the robustness of the system.Finally,the stability of the system is proved by Lyapunov stability criterion.The hardware in loop(HIL)platform of IPMSM is built based on FPGA,which verifies that the controller designed has excellent anti-interference ability and robustness.