基于超螺旋算法的永磁同步电机变结构自抗扰控制设计与验证

Variable structure ADRC for a permanent magnet synchronousmotor with super-twisting sliding mode method

针对永磁同步电机直接转矩控制(direct torque control,DTC)存在较大的磁链,转矩脉动以及在低速运行段控制效果不佳等问题,提出了基于超螺旋滑模(super-twisting sliding mode,STSM)的变结构自抗扰控制(active-disturbance rejection controller,ADRC)调速方法.首先,设计基于幅值、相位补偿与死区补偿的定子磁链观测器,以解决直流漂移、积分饱和与开关时延的问题.其次,将传统直接转矩控制系统中的磁链环和转矩环上的滞环控制器替换成超螺旋滑模控制器以减小磁链和转矩脉动问题.再次,将变结构的思想引入到扩张状态观测器(extended state observer,ESO)的设计中,在速度环上设计了一种变结构自抗扰控制器.最后,通过搭建调速系统实验平台,对PI+STSM、ADRC+STSM与所提的变结构ADRC+STSM 3种控制方法开展对比实验,结果表明所提出方法的有效性和优越性.

Considering the problems of large magnetic chain,torque ripple and poor control effect in the direct torque control(DTC)of the permanent magnet synchronous motor(PMSM)at low speed,a variable structure active-disturbance rejection controller(ADRC)of speed loop based on super-twisting sliding mode(STSM)is proposed to enhance the traditional stator flux linkage observer.First,a stator flux observer based on amplitude,phase and dead time compensation part is designed to solve the problems of DC drift,integral saturation and switching delay.Second,the bang-bang controllers of the magnetic chain loop and torque loop in the traditional DTC system are replaced by a super-twisting sliding mode controller to reduce the problems of magnetic chain and torque ripple.Third,a variable structure based active disturbance rejection controller for a permanent magnet synchronous motor(PMSM)is developed by introducing the idea of variable structure into the design of the extended state observer(ESO).Finally,the comparative experiments of three kinds of control methods,PI+STSM,ADRC+STSM and the proposed variable structure based ADRC+STSM,are carried out with a speed regulation experimental set-up.The results show the effectiveness and superiority of the proposed speed control method.