基于滑模观测器的PMSM改进无差拍电流预测控制

Improved Deadbeat Current Predictive Control of PMSM Based on Sliding Mode Observer

针对永磁同步电机因参数扰动、采样延迟、模型失配导致电流控制误差问题,提出基于滑模干扰观测器的改进无差拍电流预测控制。通过将模型参数不匹配引起的扰动引入到电机的电压方程中,构建滑模扰动观测器观测系统扰动;针对滑模控制的抖振问题设计了以sgn为基础的二阶趋近律消除固有抖振问题,并证明了控制器的稳定性;将滑模观测器中的预测电流代替采样电流解决控制延时的问题;将观测估计的系统扰动通过前馈补偿的方式与无差拍电流预测控制相结合,进而提高无差拍电流控制的参数鲁棒性。结果表明:在参数扰动和模型失配时,提出的控制方法可以有效补偿系统扰动,系统稳态误差减小,有效提高了系统鲁棒性。

Aiming at the current control error problem of permanent magnet synchronous motor caused by parameter disturbance,sampling delay and model mismatch,an improved deadbeat current predictive control based on sliding mode disturbance observer was proposed.By introducing the disturbance caused by the mismatch of model parameters into the voltage equation of the motor,a sliding mode disturbance observer was constructed to observe the system disturbance.The predictive current in the sliding mode observer was used to replace the sampling current to solve the problem of control delay.Aiming at the chattering problem of sliding mode control,a second-order reaching law based on sgn was designed to eliminate inherent chattering problem,and the stability of the controller was demonstrated.The problem of control delay was solved by substituting the predicted current in the sliding mode observer for the sampling current.The observed estimated system disturbance was combined with the deadbeat current predictive control through feedforward compensation,thus improving the parameter robustness of the deadbeat current control.The results show that the proposed control method can effectively compensate the system disturbance when the parameter disturbance and model mismatch occur,and the system steady state error is reduced,which effectively improves the system robustness.