基于扰动观测器的PMSM系统自适应反步滑模控制

Adaptive Backstepping Sliding Mode Control for PMSM System Based on Nonlinear Disturbance Observer

针对负载转矩波动和系统参数变化的永磁同步电机(PMSM)系统的控制问题,提出了一种带有非线性扰动观测器的自适应反步滑模位置跟踪控制方法。首先,设计了自适应反步滑模控制器,以确保电机位置快速收敛到期望值,并设计了自适应收敛增益,以减小电机位置响应下的大的过冲;其次,设计非线性扰动观测器估计未知扰动,并为自适应反步滑模控制提供前馈补偿,以提高系统的鲁棒性,并减少稳态位置误差。仿真结果表明,该方法可以有效减少过冲,很好地实现了PMSM系统的快速位置跟踪控制,具有良好的抗扰动性能。

This paper presents an adaptive backstepping sliding mode position tracking control method based on a nonlinear disturbance observer for the control problem of permanent magnet synchronous motor(PMSM)system with load torque fluctuations and system parameter changes.An adaptive backstepping sliding mode controller was first designed to ensure rapid convergence of the motor position to the desired value.An adaptive convergence gain is also designed to reduce large overshoots under motor position response.Then,a non-linear disturbance observer is designed to estimate unknown disturbances and provide feed-forward compensation for adaptive backstepping sliding mode control to improve system robustness and reduce steady-state position errors.Simulation results show that the method achieves good fast position tracking control of the PMSM system with good anti-disturbance performance.