电动汽车PMSM控制系统抗积分饱和滑模控制器

Anti-integral Saturation Sliding Mode Controller for Electric Vehicle PMSM Control System

针对电动汽车电机PI控制系统易因系统内部饱和限制而产生积分饱和现象,从而引发超调和振荡问题,提出一种参数自适应抗饱和滑模控制策略。采用基于幂次—指数混合趋近律的平滑非奇异终端滑模控制器代替传统滑模控制,降低稳态误差,加快响应速度。设计参数自适应抗饱和积分器通过限幅前后误差计算和速度环补偿,减小永磁同步电机物理受限系统饱和效应对系统超调的影响。为保证新控制系统的稳定性,利用Lyapunov理论进行了稳定性证明。仿真和实验结果表明,该策略在电机速度控制中能够有效改善系统超调,同时削弱滑模控制存在的抖振问题。

The electric vehicle motor drive system mostly adopts the traditional PI control.Because of the internal saturation limit of the sys⁃tem,the integral saturation phenomenon occurs,and the system is prone to generate the problem of over-harmonic oscillation.Therefore,this paper proposes a parameter improved anti-saturation sliding mode control strategy.First of all,the new strategy uses a smooth non-singular terminal sliding mode controller based on power-exponential mixed reaching law to replace the traditional sliding mode control to reduce the steady-state error and speed up the response speed.Then,a parameter adaptation anti-saturation integrator is designed to calculate the error before and after amplitude limiting and compensate it into the speed loop,so as to reduce the influence of the saturation effect of the PMSM physically limited system on the system overshoot.In addition,Lyapunov theory is used to prove the parameter adaptation anti-saturation slid⁃ing mode controller to ensure the stability of the system.The simulation and experimental results show that this strategy can effectively improve the overshoot of the system and weaken the chattering problem of the sliding mode control in the motor speed control.