基于新型趋近律和扰动观测器的永磁同步电机滑模控制

发布时间：2018-04-25 05:23

本文选题：永磁同步电机 + 滑模控制　；参考：《工程科学学报》2017年06期

【摘要】：为了提高永磁同步电机的转速控制性能,克服扰动对伺服控制的影响,提出了一种基于新型趋近律和扰动观测器的滑模控制方法.设计了一种新型趋近律,以解决传统趋近律滑模面趋近时间和系统抖振之间的矛盾,提高系统响应快速性.综合考虑系统存在内部参数摄动和外部负载扰动,设计了滑模扰动观测器,并将观测值前馈补偿到速度控制器输出端;将观测器切换增益设计为扰动观测误差的函数,以削弱滑模观测值抖振.仿真结果显示,与传统趋近律相比,采用新型趋近律可有效提高系统的响应速度,快速准确的跟踪速度阶跃信号;滑模观测器可准确的观测系统扰动的变化;当系统加入负载扰动时,PI控制最大转速波动值为75 r·min~(-1),而基于新型趋近律和扰动观测器的滑模控制最大转速波动值较小为30 r·min~(-1),鲁棒性更好.实验结果显示,采用基于新型趋近律和扰动观测器的滑模控制方法可以快速跟踪400 r·min~(-1)的速度指令,调节时间为0.12 s,稳态跟踪误差为±4 r·min~(-1),且转速无超调;滑模观测器可准确无超调的估计系统扰动值,进一步提高系统的抗扰动性能;当电机以400 r·min~(-1)稳速运行时,加入0.6 N·m的负载扰动,基于新型趋近律和扰动观测器的滑模控制方法最大转速波动为23 r·min~(-1),与PI控制相比,转速波动减小了8%.上述仿真和实验结果具有较好的一致性,表明基于新型趋近律和扰动观测器的滑模控制方法可以有效抑制滑模控制系统的抖振,提高转速控制系统的鲁棒性和动态响应性能.
[Abstract]:In order to improve the speed control performance of PMSM and overcome the influence of disturbance on servo control, a sliding mode control method based on a new approach law and disturbance observer is proposed. A new approach law is designed to solve the contradiction between the sliding mode surface approach time and the buffeting of the system, and to improve the system response speed. Considering the existence of internal parameter perturbation and external load disturbance, a sliding mode disturbance observer is designed, and the observer feedforward is compensated to the output of the speed controller, and the observer switching gain is designed as a function of disturbance observation error. To weaken the chattering of sliding mode observations. The simulation results show that compared with the traditional approach law, the new approach law can effectively improve the response speed of the system and track the velocity step signal quickly and accurately, and the sliding mode observer can accurately observe the disturbance of the system. When the load disturbance is added to the system, the maximum rotational speed fluctuation value of Pi control is 75 r / min ~ (-1), while the maximum speed fluctuation value of sliding mode control based on new approach law and disturbance observer is 30 r / min ~ (-1), so the robustness is better. The experimental results show that the sliding mode control method based on the new approach law and disturbance observer can quickly track the speed order of 400 r / min ~ (-1), the adjusting time is 0.12 s, the steady-state tracking error is 卤4 r / min ~ (-1), and the speed is no overshoot. The sliding mode observer can accurately estimate the disturbance value of the system without overshoot, and further improve the anti-disturbance performance of the system. When the motor is running at a steady speed of 400 r / min ~ (-1), the load disturbance of 0.6 nm is added to the system. A sliding mode control method based on a new approach law and a disturbance observer is proposed. The maximum speed fluctuation is 23 r / min ~ (-1). Compared with Pi control, the speed fluctuation is reduced by 8%. The simulation and experimental results show that the sliding mode control method based on the new approach law and disturbance observer can effectively suppress the chattering of the sliding mode control system and improve the robustness and dynamic response performance of the rotational speed 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(11603024) 中国科学院长春光学精密机械与物理研究所三期创新工程资助项目(065X32CN60)
【分类号】：TM341;TP273

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