基于终端滑模负载观测器的永磁同步电机位置系统反步控制

发布时间：2019-03-11 09:38

【摘要】：针对永磁同步电机位置控制系统存在负载扰动情况下的控制精度低,响应速度慢的问题,提出了一种基于终端滑模负载观测器的反步控制方法。设计了基于非奇异终端滑模的负载观测器,使观测误差在有限时间内收敛,并将观测值动态补偿到控制器中,提高了系统的控制精度;基于非奇异终端滑模和反步法设计位置控制器,提高了系统状态的收敛速度,增强了系统的鲁棒性,通过Lyapunov稳定性判定法证明了系统的稳定性。仿真结果表明,设计的终端滑模负载观测器能够快速、准确地估计出负载转矩,位置控制器能有效实现系统位置的渐近跟踪。
[Abstract]:In order to solve the problem of low control precision and slow response speed in the permanent magnet synchronous motor position control system under the condition of load disturbance, a backstepping control method based on terminal sliding mode load observer is proposed. A load observer based on non-singular terminal sliding mode is designed so that the observation error converges in finite time and the observation value is dynamically compensated to the controller to improve the control accuracy of the system. A position controller based on non-singular terminal sliding mode and backstepping method is designed, which improves the convergence speed of the system state and enhances the robustness of the system. The stability of the system is proved by Lyapunov stability judgement method. The simulation results show that the designed terminal sliding mode load observer can estimate the load torque quickly and accurately, and the position controller can effectively realize the asymptotic tracking of the position of the system.
【作者单位】：燕山大学工业计算机控制工程河北省重点实验室;国家冷轧板带装备及工艺工程技术研究中心;
【基金】：国家自然科学基金委员会与宝钢集团有限公司联合资助重点项目(U1260203) 河北省自然科学基金-钢铁联合研究基金资助项目(F2013203291) 河北省高等学校创新团队领军人才培育计划项目(LJRC013)
【分类号】：TM341

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