基于模糊滑模与新型扩张状态观测器的SPMSM无速度传感器控制

SPMSM speed sensorless control based on fuzzy sliding mode and new expanded state observer

针对传统滑模面速度控制系统调节效果差、抗扰动能力弱等问题,提出一种提高系统自适应能力和鲁棒性的优化控制方法。结合非奇异快速终端滑模面和模糊控制改进传统速度控制器,加快系统收敛速度的同时提高抗扰动能力;根据滑模控制原理构建机械角速度估计模块,并设计新型扩张状态观测器,实现对电机角速度的估计、转速和负载扰动的实时跟踪,并将扰动反馈到前项速度控制器中进行补偿,提高系统控制精确度。仿真结果表明:角速度估计模块和新型滑模扩张状态观测器能够实现对电机机械角速度的精确估计、电机转速和负载扰动(阶跃扰动和非线性扰动)的实时跟踪;系统角速度估计误差不超过0.1 rad/s,转速误差不超过1%,d轴电流响应稳定在0 A附近,q轴电流响应误差不超过5%,同时响应和调节时间不超过0.02 s。

For the problems of poor system adjustment and weak anti-disturbance ability in traditional sliding mode surface speed control system, an optimized control method to enhance the adaptive capacity and system’s robustness was proposed. Combined non-singular fast terminal sliding surface with fuzzy control the traditional speed controller was improved. The system convergence speed was accelerated, and the anti-disturbance ability was improved. According to the sliding mode control principle, the mechanical angular velocity estimation module and a new extended state observer were designed to realize the estimation of the motor angular velocity, real-time tracking of speed and load disturbance. The disturbance was fed back to the preceding speed controller for compensation to improve system control accuracy. The simulation results show that: the angular velocity estimation module and the new sliding mode extended state observer can achieve accurate estimation of the motor, and real-time tracking of motor speed and load disturbance(step disturbance and nonlinear disturbance);the angular velocity estimation error and speed error does not exceeded 0.1 rad/s and 1%, respectively. The d-axis current response are stable around 0 A, the q-axis current response error does not exceed 5%, and the simultaneous response and adjustment time does not exceed 0.02 s.