PMSM调速系统的新型指数趋近率滑模控制

Sliding mode control of PMSM speed control system based on a novel exponential reaching law

针对比例积分(proportional integral,简称PI)控制器不能满足永磁同步电机(permanent magnet synchronous motor,简称PMSM)调速系统的控制要求,在传统指数趋近率基础上提出一种新型指数趋近率,基于该新型指数趋近率设计滑模控制器.另外,设计一种扰动观测器,把扰动观测结果反馈至滑模控制器,以降低外部扰动对控制系统的影响.Simulink仿真结果表明:PMSM调速系统负载突增时,相对于传统指数趋近率控制和PI控制,新型指数趋近率控制转速波动最小、抗扰动能力最强;相对于PI控制,新型指数趋近率滑模控制电流响应更快更平稳;相对于传统指数趋近率控制,新型指数趋近率滑模控制稳态转速波动较小、抖振得到更明显的抑制.RT-LAB半实物平台的实验结果表明:PMSM调速系统负载突增时,相对于PI控制,新型指数趋近率控制转速波动更小、转速回到设定值时间更短、电流响应更平稳;相对于传统指数趋近律控制,新型指数趋近律控制稳态交直轴电流波动更小,表明其能更有效地抑制抖振.

Proportional integral(PI) controller couldn’t meet the control requirements of permanent magnet synchronous motor(PMSM) speed control system, a new exponential reaching law was proposed based on the traditional exponential reaching law, and a sliding mode controller was designed based on the new exponential reaching law. In addition, a disturbance observer was designed and the disturbance observation results were fed back to the sliding mode controller to reduce the influence of external disturbances on the control system. Simulink simulation results showed that compared with traditional exponential reaching law control and PI control, the new exponential reaching law control had the smallest speed fluctuation, the strongest anti-disturbance ability when the load of PMSM speed regulating system increased suddenly;compared with PI control, the current response of the new exponential reaching law sliding mode control was faster and more stable;compared with the traditional exponential reaching law control, the new exponential reaching law sliding mode control had smaller steady speed fluctuation and more significant chattering suppression. The experimental results of RT-LAB semi-physical platform showed that when the load of PMSM speed regulation system increased suddenly, compared with PI control, the new exponential reaching law control had smaller speed fluctuation, shorter speed return to the set value, and more stable current response;compared with the traditional exponential reaching law control, the new exponential reaching law control had smaller steady-state alternating axis current fluctuation, indicating that it could suppress chattering more effectively.