Full-Order Sliding Mode Control for High-Order Nonlinear System Based on Extended State Observer

In this paper, a full-order sliding mode control based on extended state observer(FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties.The extended state observer(ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed,and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.

基于模糊全阶滑模观测器的PMSM无传感器控制

为解决传统滑模观测器采用固定滑模增益在永磁同步电机转子位置检测低速抖振严重的问题,提出了旨在提高宽调速范围滑模抖振抑制性能的模糊自适应调节滑模增益的全阶滑模观测器。首先,以定子电流与扩展反电动势为观测对象构建全阶滑模观测器,采用定子电流实际值与观测值的误差和误差变化率为输入量构建模糊控制规则,并根据实时观测的电机转速,实现在不同转速时的滑模增益自适应调节。然后,采用双曲正切函数代替传统的符号开关函数实现软开关切换的连续滑模控制,并且为消除转速造成的影响,采用归一化正交锁相环获得扩展反电动势中准确的转子位置信息。最后,搭建了永磁同步电机驱动试验平台,在低速与中高速范围内分别进行实验验证。实验结果表明,相比于传统滑模观测器,所提算法在宽调速范围时控制性能更具有优势。

基于改进全阶滑模观测器的IPMSM无传感器控制

针对传统全阶滑模观测器存在抖振及观测精度差的问题,提出一种改进全阶滑模观测器的内置式永磁同步电机无位置传感器控制策略。该策略采用准符号函数代替非线性符号函数作为切换函数,并且利用Lyapunov函数和等效控制的思想对系统进行稳定性分析;在此基础上,为了避免电机转速大小变化影响转子位置的估计精度,设计了与电机转速相关的自适应滑模增益。最后,在2 kW IPMSM矢量控制实验平台上验证了所提无位置传感器控制策略的正确性和有效性。