基于永磁同步电机的滑模与自抗扰协调速度控制研究

Research on coordinated speed control of sliding mode and active disturbance rejection based on permanent magnet synchronous motor

为了解决永磁同步电机(permanent magnet synchronous motor,PMSM)矢量控制中采用指数滑模在调速控制时,出现的超调量大、抖振严重及抗干扰能力差等问题,采用滑模和降阶线性自抗扰的复合控制策略。通过一个可变的加权因子,使得滑模和降阶线性自抗扰在矢量控制系统的速度环中各占一定比重,所占比重的和为1。仿真结果表明,该控制策略对比指数滑模,在加减速、正反转时抖振显著减少,均实现无超调跟踪,并更快地收敛至参考速度;在加载和卸载时,抖振明显减少,超调量也分别减少了17%和18%。该策略不仅能有效改善控制系统的性能,对速度变化也具有较强的鲁棒性。

In order to solve the problem of large overshoot,serious chattering and poor anti-interference ability when using exponential sliding mode in speed control of permanent magnet synchronous motor(PMSM)vector control,a composite control strategy of sliding mode and reduced-order linear active disturbance rejection was adopted.The strategy made the sliding mode and reduced-order linear active disturbance rejection occupy a certain proportion in the speed loop of the vector control system through a variable weighting factor,and ensured that the sum of their respective proportions was 1.The simulation results show that compared with the exponential sliding mode,the chattering of the control strategy is significantly reduced during acceleration and deceleration,or positive and negative inversion.Besides,no overshoot tracking is achieved,and it can converge to the reference speed faster.During loading and unloading,not only the chattering is significantly reduced,but also the overshoot is reduced by 17%and 18%,respectively.The strategy not only effectively improves the performance of the control system,but also has strong robustness to speed changes.