改进扰动观测器的IM自适应滑模反步控制

Adaptive Sliding-Mode Backstepping Control of Induction Motor with Improved Disturbance Observer

针对内外部扰动问题,设计自适应滑模反步控制(ASMBC)的方法来调节异步电机速度。首先,提出了一种用自适应律改进趋近律的反步滑模控制方法,加快电机系统的动态响应速度并抑制滑模控制中的抖振现象;然后,为了消除传统扰动观测器中由于积分项累积带来的超调现象,采用饱和函数改进扰动观测器,用以估计电机内部参数的变化和外部扰动并减小超调;最后,将所设计的控制器与反步滑模控制(SMBC)等方法对比,实验结果表明该方法动态过程响应速度快、超调小,稳态过程跟踪精度高,并且具有良好的抗干扰能力。

Aiming at the internal and external disturbance,an adaptive sliding mode backstepping control(ASMBC)method is designed to adjust the motor speed.Firstly,a backstepping sliding mode control method with adaptive law to improve reaching law is proposed to speed up the dynamic response of motor system and suppress chattering in sliding mode control.Then,in order to eliminate the overshoot caused by the accumulation of integral terms in the traditional disturbance observer,the saturation function is used to improve the disturbance observer to estimate the change of internal parameters and external disturbance of the motor and reduce overshoot.Finally,the designed controller is compared with backstepping sliding mode control(SMBC)and other control methods.The experimental results show that the method has the advantages of fast dynamic process response,small overshoot,high steady-state process tracking accuracy and good anti-interference ability.