基于新型趋近律的永磁同步电机动态性能优化

Dynamic Performance Optimization of Permanent Magnet Synchronous Motor Based on New Reaching Law

目的提高永磁同步电机作业时的响应精度和速度,优化其动态反馈性能,解决传统滑模控制中趋近时间与系统抖振相矛盾的问题。方法采用三闭环控制结构,位置环与电流环采用模糊PID控制方法,速度环采用基于新型趋近律的改进滑模控制方法,添加扰动观测器并给予系统扰动补偿。结果仿真与在环硬件测试结果表明,文中提出的控制方法与传统三闭环滑模控制相比,相同时间内电机转子位置响应速度提前了0.123 s且无超调,同时明显降低了电磁转矩波动幅度。结论文中设计的新型趋近律有效改善了传统滑模控制存在的问题,建立的控制系统有效提高了永磁同步电机的响应精度和速度,削弱了永磁同步电机作业时的抖振程度,具有良好的鲁棒性。

The work aims to improve the response accuracy and speed of the permanent magnet synchronous motor during operation and optimize its dynamic feedback performance,to solve the problem of the contradiction between the reaching time and the system jitter in the traditional sliding mode control.In the experiment,a three-closed-loop control structure was used,in which a fuzzy PID control method was adopted for the position loop and current loop,and an improved sliding mode control method based on the new reaching law was adopted for the speed loop.Then,a disturbance observer was applied and the disturbance compensation was given to the system.According to the simulation results and the in-the-loop hardware test results,compared with the traditional three-closed-loop sliding mode control,the rotor position response speed of the proposed control method was 0.123 seconds faster and there was no overshoot within the same time,and the electromagnetic torque fluctuation amplitude was significantly reduced.The new reaching law designed effectively solves the problems existing in the traditional sliding mode control,and the established control system effectively improves the response accuracy and speed of the permanent magnet synchronous motor,weakens the jitter degree of the PMSM during operation,and provides good robustness.