基于RESO和复合滑模的永磁同步电动机调速控制

Speed control of permanent magnet synchronous motor based on RESO and composite sliding mode

针对永磁同步电动机存在建模误差、参数和负载变化等内外干扰问题,提出一种基于降阶扩张状态观测器的复合滑模调速策略.首先,基于永磁同步电动机的状态空间模型,考虑到光电编码器可测量永磁同步电动机的转速信号,只需要设计观测器对系统的总干扰进行估计和消除,并分析降阶扩张状态观测器的性能;接着,引入滑模控制,设计滑模面和控制律,提高系统的抗干扰能力,并用Lyapunov方法证明控制器的稳定性;最后,基于DSP芯片TMS320F28335为控制核心和MATLAB环境下的控制模块,搭建半实物调速控制系统平台,并与传统PI控制和线性自抗扰控制进行对比验证.结果表明,所提出的复合滑模控制策略相较于传统方法在加载时转速变化量减少了60%以上,具有优越的抗干扰和调速性能.

To solve the internal and external disturbances in permanent magnet synchronous motors(PMSM)with parameter variations,modeling error and load uncertainties,a reduced-order extended state observer(RESO)based on composite sliding mode control strategy was proposed.Based on the state space model,a novel RESO was designed to estimate and eliminate the internal and external disturbances with considering the speed signal of PMSM measured by the encoder,and the performance for the RESO was analyzed.The composite sliding mode control method was introduced to design the sliding mode surface and control law for improving the anti-disturbance ability of the whole control system,and the stability of the control strategy was analyzed by Lyapunov method.The hardware-in-the-loop speed control platform of PMSM was built based on the control core of DSP chip TMS320F28335 and the MATLAB control module.The proposed method was simulated and compared with traditional PI and linear active disturbance rejection control methods.The results show that the speed variation of the system with loading can be reduced more than 60%in contrast to traditional system with excellent performance of anti-disturbance and regulation speed.