永磁同步电机柔性负载谐振抑制滑模控制

Sliding Mode Control Method for Flexible Load Resonance Suppression of PMSM

针对永磁同步电机驱动柔性负载造成的机械谐振情况,通过负载转速反馈提出了一种复合滑模控制谐振抑制策略。首先,建立柔性负载系统的双惯量数学模型;其次,根据负载侧速度反馈,结合新型滑模趋近律,设计了一种滑模控制器来抑制谐振;同时,设计滑模扰动观测器观测转速误差和系统的负载扰动,并将估计值反馈至滑模控制器进行补偿,提高速度的控制精度,减少了负载扰动对系统抖振的影响。研究结果表明,与PI控制、传统滑模控制对比,通过仿真和半实物实验验证所提出的滑模控制策略具有较强的谐振抑制效果。

A new sliding-mode control resonance suppression strategy based on a sliding-mode disturbance observer is proposed for the mechanical resonance caused by a flexible load driven by a permanent magnet synchronous motor based on the load speed feedback.Firstly,a two-inertia mathematical model of the flexible load is established;secondly,a sliding-mode controller is designed to suppress resonance based on the load-side speed feedback,combined with a new sliding-mode convergence law;meanwhile,a sliding-mode disturbance observer is designed to estimate the load disturbance of the system,and the estimated value is fed back to the sliding-mode controller for feedforward compensation,which enhances the robustness of the system,improves the speed control accuracy and reduces the impact of the load disturbance on the system.jitter and vibration.The results show that the proposed sliding-mode control strategy has a strong resonance suppression effect compared with PI control and conventional sliding-mode control,as verified by simulation and semi-physical experiments.