永磁同步电动机位置跟踪系统的连续终端滑模控制优化设计与实验

Design and Experiment of Position Tracking of PMSM System Based on Improved CTSMC Scheme

为使永磁同步电动机系统获得高精度的位置跟踪性能,设计一种改进的连续终端滑模控制策略。该策略用滑模观测器来估计系统干扰,是以永磁同步电动机系统动态模型为基础的连续终端滑模位置控制器;同时基于Lyapunov稳定性理论分析整个闭环系统的稳定性;并通过永磁同步电动机平台进行了实验。结果表明,与经典PID控制和普通连续终端滑模控制相比,所提出的改进连续终端滑模控制方法能够使永磁同步电动机系统获得更高的跟踪精度和更强的抗扰性能。

An improved continuous terminal sliding mode(CTSM)control strategy is designed to obtain high precision position tracking performance of permanent magnet synchronous motor(PMSM)system.The proposed CTSM controller is based on the dynamic model of the PMSM system,in which sliding mode observer is employed to estimate the disturbances of the system.The stability of the whole closed-loop system is analyzed based on Lyapunov stability theory.Experiments are carried out on a PMSM platform.The results demonstrate that compared with the classical PID control and the conventional CTSM control scheme,the present control method can make the PMSM system obtain higher tracking accuracy and stronger disturbance rejection performance.