基于扩张状态观测器的永磁同步电机滑模变结构位置伺服控制

Sliding-mode Variable Structure Position Servo Control of Permanent Magnet Synchronous Motor Based on Extended State Observer

针对带有未知摩擦力矩和模型不确定的永磁同步电机位置伺服系统,提出两种基于扩张状态观测器的滑模变结构位置伺服控制策略。在系统存在状态未知和非线性特性有界的情况下,设计扩张状态观测器来观测系统的未知状态和非线性不确定项,并根据观测值设计降阶线性滑模控制和无抖振全阶滑模控制两种控制方法。仿真结果表明,降阶滑模控制方法控制精度较高且鲁棒性较强,而全阶滑模控制方法可以有效消除滑模控制中的抖振问题,便于实际应用。

In this paper, two sliding-mode variable structure control(SMVSC) methods are proposed for permanent magnet synchronous motor(PMSM) servo control system with unknown friction torque and model uncertainty based on extended state observer(ESO). In the case of unknown system states and the bounded nonlinear characteristics, the ESO is designed to observe the unknown system states and nonlinear uncertainties, and then a reduced-order sliding mode control(RSMC) and a full-order sliding mode control(FSMC) schemes are both presented based on the ESO observations. Simulation results show that the RSMC performs better than FSMC with respect to tracking accuracy and robustness to load, while FSMC can effectively eliminate the chattering problem, which is more convenient for practical applications.