基于ESMDO的级联双模型永磁同步电机鲁棒控制

Robust Control of Cascaded Dual-model Permanent Magnet Synchronous Motor Based on ESMDO

考虑永磁同步电机调速控制系统中传统电流环数学模型的耦合非线性,结合无模型控制的优势,提出了一种基于扩展滑模观测器(extended sliding mode disturbance observer,ESMDO)的级联双模型永磁同步电机鲁棒控制方法,有效解决了传统PI控制器的鲁棒性差、动态响应慢的问题。首先,在转速环利用传统永磁同步电机数学模型设计了引入自校正开关增益的离散滑模转速控制器,通过离散的ESMDO观测综合扰动项并进行补偿。然后,在考虑电机参数的不确定性和外部扰动的情况下,建立了电流环超局部模型,设计了基于离散的ESMDO的无模型无差拍电流预测控制器。最后,以PI控制为对比方法进行仿真分析,仿真结果表明了所提方法的可行性与有效性。

Considering the coupling and nonlinearity of the traditional current loop mathematical model in the speed control system of permanent magnet synchronous motor(PMSM),and the advantages of model-free control,a robust control method of cascaded dual-model PMSM based on extended sliding mode disturbance observer(ESMDO)is proposed,which effectively solves the problems of poor robustness and slow dynamic response of traditional PI controller.Firstly,in the speed loop,a discrete sliding mode speed controller with a self-tuning switching gain is designed by using the traditional PMSM mathematical model,and the integrated disturbance term was observed and compensated by the discrete ESMDO.Then,considering the uncertainty of motor parameters and external disturbance,an ultra-local model of the current loop is established,and a model-free deadbeat predictive current controller based on discrete ESMDO is designed.Finally,PI control is used as the comparison method for simulation analysis,and the simulation results show the feasibility and effectiveness of the proposed method.