基于扩展滑模扰动观测器的永磁同步电机新型无模型滑模控制

Novel Model-free Sliding Mode Control of Permanent Magnet Synchronous Motor Based on Extended Sliding Mode Disturbance Observer

针对永磁同步电机(permanent magnet synchronous motor,PMSM)控制系统采用传统PI控制算法时因参数摄动而导致电机控制性能下降的问题,提出一种转速环改进型无模型滑模控制方法(improved model-free sliding mode control,IMFSMC)。首先,建立PMSM在参数摄动时的新型超局部模型。其次,采用一种改进趋近律设计转速环无模型滑模反馈控制器;同时利用扩展滑模扰动观测器(extended sliding mode disturbance observer,ESMDO)估计超局部模型中的未知部分,并通过Lyapunov稳定性理论证明了该控制器和观测器的稳定性。最后,与PI控制以及传统无模型滑模控制的仿真和实验对比,结果证明所提方法能有效改善PMSM在发生参数摄动时的暂稳态性能,降低对电机模型的依赖,提升系统鲁棒性和抗干扰性能。

Aiming at the problem that the overall control performance degradation of permanent magnet synchronous motor(PMSM) control system due to parameter perturbation when using traditional PI control algorithm, this paper proposed a speed loop improved model-free sliding mode control(IMFSMC) method. Firstly, a novel ultra-local model of PMSM with parameter perturbation was established.Secondly, the model-free sliding mode feedback controller in speed-loop was designed using an improved reaching law, the extended sliding mode disturbance observer(ESMDO) was used to estimate the unknown part in the ultra-local model simultaneously, and the stability of controller and observer were proved by Lyapunov stability theory. Finally, compared with PI control and conventional model-free sliding mode control, the simulation and experimental results show that the proposed method can effectively improve the transient and steady-state performance, reduce the dependence on the motor model, and improve the robustness and anti-interference performance of the system.