基于复合非奇异快速终端滑模算法的PMSM位置控制

PMSM Position Control Based on Composite Nonsingular Fast Terminal Sliding Mode Algorithm

针对永磁同步电机(PMSM)位置控制系统在参数摄动和负载扰动等各种不确定性下的位置跟踪精度低和鲁棒性差的问题,提出了一种结合非奇异快速终端滑模控制(NFTSMC)和扰动观测器的复合控制策略。首先,NFTSMC采用了具有全局快速收敛特性的非线性滑模面,结合连续的滑模控制率设计了位置控制器,通过Lyapunov定理证明了其稳定性。然后,为了进一步提高永磁同步电机位置控制系统的鲁棒性,引入扩张状态观测器来精确估计系统的集总扰动并对位置控制器进行前馈补偿。最后,仿真与实验结果表明,与传统的滑模相比,所提出的复合滑模控制策略具有更快的动态响应、更高的跟踪精度和更强的鲁棒性。

A composite control strategy combining nonsingular fast terminal sliding mode control(NFTSMC)and disturbance observer was proposed to address the low position tracking accuracy and poor robustness of permanent magnet synchronous motor(PMSM)position control systems under various uncertainties such as parameter perturbations and load disturbances.Firstly,NFTSMC adopted a nonlinear sliding mode surface with global fast convergence characteristics,and designed a position controller with continuous sliding mode control rate.Its stability was proved through Lyapunov theorem.Then,in order to further improve the robustness of the permanent magnet synchronous motor position control system,an extended state observer was introduced to accurately estimate the system's lumped disturbance and perform feedforward compensation on the controller.Finally,simulation and experimental results showed that compared with traditional sliding mode control,the proposed composite sliding mode control strategy had faster dynamic response,higher tracking accuracy,and stronger robustness.