基于扰动观测器的永磁同步电机电流环自适应滑模控制

发布时间：2018-04-26 19:16

本文选题：永磁同步电机 + 自适应滑模控制　；参考：《光学精密工程》2017年05期

【摘要】：针对扰动对永磁同步电机转速伺服系统性能的影响,提出了基于扰动观测器的电流环自适应滑模控制方法。设计了自适应律在线估计系统的内部参数摄动以补偿模型不确定性扰动。同时,设计了滑模扰动观测器实时估计系统外部负载扰动,并将观测值前馈补偿到电流环自适应滑模控制器,在提高系统鲁棒性的同时降低滑模控制系统的抖振。实验结果显示,采用基于扰动观测器的电流环自适应滑模控制方法,系统可快速、准确、无超调地跟踪900r/min的速度指令,调节时间为0.08s,稳态误差为±5r/min。加入0.6N·m的负载扰动,该控制方法的最大转速波动为21r/min,比PI控制方法的转速波动减小了3.4%。仿真和实验结果表明,基于扰动观测器的电流环自适应控制方法提高了永磁同步电机转速伺服系统的鲁棒性和动态响应性能,同时可有效抑制滑模控制系统的抖振。
[Abstract]:Aiming at the effect of disturbance on the performance of PMSM speed servo system, an adaptive sliding mode control method based on disturbance observer for current loop is proposed. The internal parameter perturbation of the adaptive law on-line estimation system is designed to compensate for the uncertainty disturbance of the model. At the same time, a sliding mode disturbance observer is designed to estimate the external disturbance of the system in real time, and the observational value feedforward is compensated to the current loop adaptive sliding mode controller, which improves the robustness of the system and reduces the chattering of the sliding mode control system. The experimental results show that the current loop adaptive sliding mode control method based on disturbance observer can track the speed instructions of 900r/min quickly, accurately and without overshoot. The adjusting time is 0.08s and the steady-state error is 卤5r-min. When the load disturbance of 0.6 N m is added, the maximum speed fluctuation of this control method is 21 r / min, which is 3.4 less than that of Pi control method. Simulation and experimental results show that the current loop adaptive control method based on disturbance observer can improve the robustness and dynamic response performance of the PMSM speed servo system and can effectively suppress the chattering of sliding mode control system.
【作者单位】：中国科学院长春光学精密机械与物理研究所;中国科学院大学;
【基金】：国家自然科学基金青年基金资助项目(No.11603024)
【分类号】：TM341;TP273

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