基于NDOB的PMSM调速系统最优滑模控制

Optimal Sliding Mode Control of Permanent Magnet Synchronous Motor Speed Control System Based on NDOB

针对永磁同步电机调速系统存在的不确定性干扰,传统的线性滑模存在控制增益较大,容易引起抖振现象的问题,提出了一种新颖的基于非线性扰动观测器(NDOB)最优滑模控制方法。利用控制Lyapunov函数(CLF)方法寻求标称系统的最优控制,优化调速系统的性能指标。由于其对系统中不确定性干扰比较敏感,设计了基于NDOB的滑模控制器,有效的抑制了不确定性干扰,提高了调速系统的鲁棒性,利用李雅普诺夫理论证明了系统的渐进稳定性。将基于NDOB滑模控制与最优控制结合,得到综合控制u,从而在减小系统抖振的同时,提高调速系统的动态性能和鲁棒性。仿真结果验证了该方法的有效性。

Aiming at the uncertain disturbance in the permanent magnet synchronous motor speed control system, the traditional linear sliding mode control gain is larger, and easy to cause the chattering phenomenon, a novel optimal sliding mode control method based on nonlinear disturbance observer(NDOB) is proposed. The control Lyapunov function(CLF) method is used to find the optimal control of the nominal system, optimize the performance index of the speed control system. Because it is sensitive to the uncertainty of the system, a sliding mode controller is designed based on NDOB. It can effectively restrain the uncertainty interference, improve the robustness of the control system. Lyapunov theory is used to prove the asymptotic stability of the system. Combining the sliding mode controller with the optimal controller, the integrated control u is obtained, which can reduce the chattering of the system, improve the dynamic performance and robustness of the speed control system. Simulation results verify the effectiveness of the proposed method.