基于全部参数自适应Smith预估补偿的永磁同步电机滑模前馈控制及扰动抑制

Sliding Mode Feedforward Control and Disturbance Suppression for PMSM Based on Full Parameters Adaptive Smith Predictor Compensation

在永磁同步电机控制系统中,逆变器的延迟效应会降低系统的跟踪性能和稳定裕度。引入Smith预估补偿器可以补偿延迟环节对系统性能的影响,但Smith预估补偿器要求延迟时间和被控对象模型参数已知,这不符合实际情况。为此提出时变模型自适应预估方法,分别对延迟时间和被控对象模型参数进行自适应估计,实现Smith预估补偿器的全参数自适应。设计基于位置输出超前值预测和扰动抑制的滑模前馈控制器,与全参数自适应Smith预估补偿控制相结合,确保控制系统的全局稳定,降低系统对参数不确定的敏感性,并提高系统的抗扰性。仿真结果表明,与传统及多种改进的Smith预估补偿方法相比,该方法有着更高的跟踪精度,即使在非理想条件下,对参数不确定依然具有较强的鲁棒性,对随机扰动依然具有较强的干扰抑制能力。

In the control system of permanent magnet synchronous motor(PMSM),the delay effect of inverter has an affect on the stability of control system.Smith predictor compensator can be introduced to compensate the influence of delay link on system performace,but it is usually under the ideal assumption that the delay time and the model parameters of the plant are known and accurate,which is not in line with the actual situation.A time-varying model-based adaptive method is proposed to adaptively estimate the delay time and the model parameters of the plant,respectively,so as to realize the full parameters adaptation of Smith predictor compensator.In order to ensure the global stability of control system,reduce the sensitivity of system to parameter uncertainty and improvthe disturbance suppression,a sliding mode feedforward controller based on the advanced value prediction of position output and the sliding mode feedforward controller of disturbance suppression is designed,which is combined with the full parameter adaptive Smith predictive compensation control.Simulated results show that,compared with traditional and many improved Smith prediction compensation methods,the proposed method has high stability and tracking accuracy,and is still robust to parameter uncertainty and random disturbance even under non-ideal conditions.