基于级联扩展状态观测器和新型滑模的PMSM控制

PMSM control based on cascaded extended state observer and novel sliding mode

为了缩短永磁同步电机的响应时间,提高系统的动态性能、稳态精度和系统鲁棒性,设计了一种级联扩展状态观测器和自适应非奇异快速终端滑模控制相结合的控制系统。首先,基于电机数学模型,建立了级联扩展状态观测器,能够准确地观测和补偿扰动,优化了系统的动态性能、稳态精度和鲁棒性;其次,在速度环设计了新型非奇异快速终端滑模面和趋近率,能够有效地抑制PI控制中的转速超调和抖振现象,实现快速收敛;在控制器设计中,考虑到观测器估计误差是未知的,因此设计了一种自适应律,用以调整未知的估计参数;最后,对所提出的控制策略进行了严格的稳定性分析。仿真结果表明,与传统控制方法相比,转速超调抑制能力提升为9.6%,同时转速快速响应能力提升0.045 s,具有优异的速度动态性能和抗干扰能力,提高了系统的性能。

In order to shorten the response time of permanent magnet synchronous motor,improve the dynamic performance,steady-state accuracy and robustness of the system,a control system combining cascaded extended state observer and adaptive non singular fast terminal sliding mode control was designed.Firstly,based on the mathematical model of the motor,a cascaded extended state observer was established,which can accurately observe and compensate for disturbances,optimizing the dynamic performance,steady-state accuracy,and robustness of the system.Secondly,a new type of non singular fast terminal sliding surface and approach rate were designed in the speed loop,which can effectively suppress speed overshoot and chattering phenomena in PI control and achieve fast convergence.In the controller design,considering that the observer estimation error is unknown,an adaptive law is designed to adjust the unknown estimation parameters.Finally,a rigorous stability analysis was conducted on the proposed control strategy.The simulation results show that compared with traditional control methods,the speed overshoot suppression ability is improved by 9.6%,and the speed fast response ability is improved by 0.045 s,with excellent speed dynamic performance and anti-interference ability,which improves the performance of the system.