一种永磁球形同步电机系统滑模控制方法研究

Research on sliding mode control method of permanent magnet spherical synchronous motor system

针对永磁球形同步电机多变量非线性系统导致的抗干扰能力差、抖振等问题,该文提出了一种永磁球形同步电机系统滑模控制方法。基于对永磁球形同步电机新型结构的优化设计,采用麦克斯韦应力张量法建立了悬浮和旋转方向的动力学模型。在旋转方向的速度环和位置环设计了一种指数趋近律滑模控制算法,同时在悬浮方向引入终端(Terminal)滑模控制方法,改善了悬浮方向的动态响应和抗干扰能力,提高旋转方向的鲁棒特性,抖振问题得到解决。从仿真和试验结果看,与常规滑模控制方法相比,该文所提出的滑模控制方案更好地实现了球形电机的多自由度高速高动态控制。

Aiming at the problems of poor anti-interference ability and chattering caused by the multivariable nonlinear system of permanent magnet spherical synchronous motor,this paper proposes a sliding mode control(SMC)method for permanent magnet spherical synchronous motor system.Based on the optimal design of the new structure of the permanent magnet spherical synchronous motor,the dynamic models of the suspension and rotation direction are established by using the Maxwell stress tensor method.An exponential reaching law SMC algorithm is designed for the speed loop and position loop in the rotation direction.At the same time,the terminal SMC method is introduced in the levitation direction.The dynamic response and anti-interference ability of the levitation direction are improved,the robustness of the rotation direction is improved,and the chattering problem is solved.From the results of simulation and experiment,compared with the conventional SMC method,the proposed SMC scheme can better realize the multi-degree-of-freedom,high-speed and high-dynamic control of the spherical motor.