永磁同步电动机改进滑模位置控制算法

Improved Sliding Mode Position Control Algorithm for Permanent Magnet Synchronous Motor

针对终端滑模控制的奇异性和抖振问题,提出了结合模糊控制和线性自抗扰技术的非奇异连续终端滑模控制算法。该算法中将系统电流环的控制方法改为线性自抗扰控制,并且利用模糊控制实时调整滑模趋近律的切换增益,获得线性自抗扰控制器的输入电流,通过线性自抗扰控制器获得反park变换的输入电压,调整电动机的输出位置,并将其与参考位置对比之后反馈给系统,得到精确的跟踪性能。此外,滑模控制用连续函数取代开关函数,减弱了系统的抖振现象。在此基础上,对控制器进行仿真,结果表明该控制算法能够在空载和扰动存在的条件下准确稳定地追踪到参考位置,验证了该算法的可行性和有效性。

To solve the singularity and the chattering problem of terminal sliding mode control,a nonsingular continuous terminal sliding mode control algorithm has been put forward with the algorithm based on fuzzy control and linear auto disturbance rejection technology.In this algorithm,the control method of system current loop has been changed to linear active disturbance rejection control,and fuzzy control has been used to adjust the switching gain of sliding mode reaching law in real time to obtain the input current of linear active disturbance rejection controller,and the input voltage of anti-park transformation has been obtained by linear active disturbance rejection controller to adjust the output position of the motor.Then,it is compared with the reference position and fed back to the system to obtain accurate tracking performance.In addition,the sliding mode control replaces the switching function with a continuous function,which reduces the chattering phenomenon of the system.On this basis,the controller is simulated,and the results show that the control algorithm can accurately and stably track the reference position under the conditions of no-load and disturbance.The feasibility and effectiveness of the algorithm are verified.