基于扩张状态观测器的永磁同步电机自适应滑模调速控制

发布时间：2018-08-01 10:38

【摘要】：针对永磁同步电机(permanent magnet synchronous motor,PMSM)调速系统存在参数不确定性及负载扰动问题,提出了一种基于扩张状态观测器的自适应滑模控制方法。在系统模型存在参数不确定性及负载扰动情况下,通过扩张状态观测器对系统的总和扰动进行实时观测,并在控制过程中加以前馈补偿以降低系统总和扰动对控制精度的影响,提高系统的动态性能。由于系统观测误差上界无法精确获得,自适应滑模控制器中的切换控制增益采用参数自适应律来调节,可有效改善系统的抖振现象,保证系统输出高精度跟踪期望信号。仿真结果表明,与传统的比例-积分(proportional-integral,PI)控制方法相比较,提出的基于扩张状态观测器的自适应滑模控制方法具有转速超调量小,响应速度快,对系统的参数不确定性及负载扰动具有很强的抑制力,且能够有效减弱滑模控制的抖振问题和提高系统的鲁棒性能。
[Abstract]:An adaptive sliding mode control method based on extended state observer is proposed to solve the problem of parameter uncertainty and load disturbance in permanent magnet synchronous motor (permanent magnet synchronous motor PMSM) speed control system. In the presence of parameter uncertainty and load disturbance in the system model, the total disturbance of the system is observed in real time by an extended state observer, and feedforward compensation is used in the control process to reduce the influence of the total disturbance on the control accuracy. Improve the dynamic performance of the system. Because the upper bound of system observation error can not be accurately obtained, the gain of switching control in adaptive sliding mode controller is adjusted by parameter adaptive law, which can effectively improve the chattering phenomenon of the system and ensure the output of high precision tracking desired signal. The simulation results show that compared with the traditional proportional integral Pi control method, the proposed adaptive sliding mode control method based on extended state observer has the advantages of low speed overshoot and fast response. It can restrain the parameter uncertainty and load disturbance of the system, and can effectively reduce the chattering problem of sliding mode control and improve the robust performance of the system.
【作者单位】：浙江工业大学信息工程学院;黄山学院机电工程学院;
【基金】：安徽省高校自然科学研究基金(KJHS2015B11)~~
【分类号】：TM341;TP273

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