改进扩张状态观测器下永磁同步电动机滑模控制

Sliding mode control of permanent magnet synchronous motor based on improved extended state observer

为了提高永磁同步电动机(permanent magnet synchronous motor,PMSM)伺服系统的鲁棒性,提出了一种基于改进扩张状态观测器(expanded state observer,ESO)和滑模控制(sliding mode control,SMC)相结合的复合控制器。首先,提出了一种基于新型趋近律的SMC,该新型趋近律中引入系统状态变量,使趋近速度变得与系统状态相关,同时能够保证系统状态在有限时间到达滑模面并收敛到零;其次,利用ESO估计系统状态并抵消外部扰动,且针对传统的fal函数易引起系统抖振和误差较大时引起系统增益大的问题,提出了一种新的fal函数;最后,在Matlab/Simulink中进行仿真。仿真结果表明:相比于使用传统SMC的系统,使用了该新型控制器的系统其响应时间快0.042 s,加入负载扰动时有更好的抗扰动性能,故在使用新型控制器下的系统有更好动态性能和控制精度。

To improve the robustness of permanent magnet synchronous motor(PMSM)servo system,a composite controller based on the combination of improved expanded state observer(ESO)and sliding mode control(SMC)was proposed.First,and SMC based on a novel convergence law was proposed,which introduced a system state variable in the novel convergence law so that the convergence speed could be related to the system state,ensuring that the system state reached the sliding mode surface and converged to zero in a finite time.Secondly,the ESO was utilized to estimate the system state and offset the external perturbations,and a new fal function was proposed to address the problems of the traditional fal function which was prone to cause system jitter and large system gain when the error was large.Finally,the simulation was carried out in Matlab/Simulink.The simulation results show that compared with the system using the traditional sliding mode controller,the response time of the system using the new controller is 0.042 s faster,and there is a better anti-disturbance performance when the load disturbance is added,therefore,this system has a better dynamic performance and control accuracy.