基于复合控制的永磁同步电机滑模抗扰性研究

Sliding Mode Immunity of Permanent Magnet Synchronous Motor Based on Composite Control

针对永磁同步电机在采用传统滑模控制设计速度控制器时出现响应时间长以及抗扰动性差的问题,提出了一种改进指数趋近律控制策略。所提出的趋近律相较于传统指数趋近律可以确保系统能够以更快的速率到达滑模面,其稳定性利用李雅普诺夫函数验证。为了减小负载突变带给系统的影响,提高永磁同步电机的抗干扰性能,设计了滑模扰动观测器,将观测到的负载转矩转换成转矩电流补偿到速度控制器中。实验结果表明,改进指数趋近律在电机启动瞬间速度超调量减少了4.7%,速度响应时间缩短了75 ms。此外,在抗扰实验下,该复合驱动控制方法验证了其抗扰能力的有效性。

In order to solve the problems of long response time and poor disturbance rejection in designing speed controller with traditional sliding mode control for permanent magnet synchronous motor,an improved exponential reaching rate control strategy is proposed.The proposed reaching law can ensure that the system can reach the sliding surface at a faster rate than the traditional exponential reaching law,and its stability is verified by Lyapunov function.In order to reduce the impact of load mutation on the system and improve the anti-interference performance of PMSM,a sliding mode disturbance observer is designed,which converts the observed load torque into a torque current and compensates the speed controller.The experimental results show that the speed overshoot of the improved exponential approach law is reduced by 4.7%at the moment of motor starting,and the speed response time is shortened by 75 ms.In addition,the effectiveness of the anti-interference ability is verified by the anti-interference experiment.