基于扩展状态观测器的永磁同步电动机的加权快速终端滑模控制

Weighted fast terminal sliding mode control of permanent magnet synchronous motors based on extended state observer

为提高永磁同步电动机的位置跟踪精度和抗扰性,提出了一种基于扩展状态观测器的加权快速终端滑模控制方法。首先,为降低系统扰动带来的影响,设计扩展状态观测器估计永磁同步电动机系统的总扰动。然后,根据扰动对系统的影响,对位置误差加权并将其作为滑模面中的非线性项,从而设计基于位置误差权重分配的滑模面。最后,设计快速加权终端滑模控制器对扰动做出具体补偿,并使系统在有限时间内趋于稳定。通过仿真结果验证,与传统的快速终端滑模控制器相比,在受到扰动时,本文设计的控制方法收敛速度更快,抗干扰性更强,能实现更准确的轨迹跟踪。

To improve the position tracking accuracy and immunity of permanent magnet synchronous motor,a weighted fast terminal sliding mode control method based on extended state observer is proposed.Firstly,to reduce the influence of system disturbance,an extended state observer is designed to estimate the total disturbance of the permanent magnet synchronous motor system.Then,according to the influence of the disturbance on the system,the position error is weighted and taken as a nonlinear term in the sliding mode surface,and the sliding mode surface based on the position error weight is designed.Finally,a fast weighted terminal sliding mode controller is designed to compensate for the disturbance and stabilize the system in a limited time.The simulation results show that compared with the traditional fast terminal sliding mode controller,the proposed control method has faster convergence speed,stronger anti-interference,and can achieve more accurate trajectory tracking when it is disturbed.