永磁同步电机改进积分型时变滑模控制

Time-varying sliding mode control of permanent magnet synchronous motor based on improved integral sliding mode

为了提高永磁同步电机的控制性能,改善对于电机的控制方法,针对永磁同步电机的积分滑模控制进行研究,首先,提出积分滑模控制在运行中遭遇未知干扰后易产生转速超调的问题。然后,通过定义自调节的积分初值来消除运行过程中因积分累积所产生的超调,改善转速超调问题。其次,为了提高滑模控制在电机整个运动的全局阶段的收敛性,提出基于预测在线寻优的时变滑模控制,通过预测控制变量来选出当前时刻的最优滑模面,使得状态变量可以更快收敛到滑模面,进一步降低转速误差,提高系统的控制精度与控制速度。最后,建立扩张状态观测器来观测系统的未知干扰,对控制器进行补偿,提高整个控制系统的鲁棒性,并且通过仿真和实验验证了所提出方法的有效性。

In order to improve the control performance of permanent magnet synchronous motor and improve the control method of the motor,the integrated sliding mode control of permanent magnet synchronous motor was studied.Firstly,the problem that the integrated sliding mode control is easy to produce speed overshoot after encountering unknown interference during operation was proposed.Then,the overshoot caused by integral accumulation during operation was eliminated by defining the initial integral value of self-regulation,the problem speed overshoot was improved.Secondly,in order to improve the convergence of sliding mode control in the global stage of the whole stage of the motor operating,a time-varying sliding mode control based on predictive control that optimized online was proposed.The optimal sliding mode surface at the current moment was selected through predictive control variables,so that the state variables can converge to the sliding mode surface faster,further reduce the speed error,and improve the control accuracy and control speed of the system.Finally,an extended state observer was built to observe the unknown interference of the system,compensate the controller,and improve the robustness of the whole control system.The effectiveness of the proposed method was verified by simulation and experiment.