基于AEPSO算法优化的大型浮选机用PMSM非奇异终端滑模控制研究*

针对大型矿山中浮选机所采用的永磁同步电机（PMSM）控制系统具有强耦合、强干扰、非线性、不确定性的问题，提出一种基于自适应进化粒子群（AEPSO）算法优化的大型浮选机用PMSM滑模控制方法。首先，介绍工程背景并建立出大型浮选机用PMSM的转矩数学模型。其次，通过设计非奇异终端滑模面和指数趋近律控制律推导出滑模控制器的结构，并利用AEPSO算法优化滑模控制器的性能参数。第三，通过Simulink仿真研究该控制方法下电磁转矩控制情况。结果表明，相对于PID控制和传统滑模控制方法，采用AEPSO算法优化后的滑模控制方法极大地提高了PMSM的控制性能，满足大型矿山中浮选机的应用需求。最后，通过江西铜业武山铜矿现场的工程试验，验证了所提方法实际应用的可行性。另外，该控制方法具有较强的通用性和灵活性，其设计思路、仿真分析和试验经验为电机控制领域的研究人员提供了参考。

Research on Non-singular Terminal Sliding Mode Control of PMSM for Large Flotation Machine Optimized by AEPSO Algorithm

Aiming at the problems of strong coupling, strong interference, nonlinearity and uncertainty in the permanent magnet synchronous motor (PMSM) control system used in flotation machines in large mines, a sliding mode control method of PMSM used in the flotation machine based on adaptive evolutionary particle swarm optimization (AEPSO) algorithm was proposed. Firstly, the engineering background is introduced and the torque mathematical model of PMSM for large flotation machine is established. Secondly, the structure of the sliding mode controller is deduced by designing the non-singular terminal sliding mode surface and the exponential reaching law control law, and the performance parameters of the sliding mode controller are optimized by the AEPSO algorithm. Thirdly, the electromagnetic torque control under this control method is studied by Simulink simulation. The results show that, compared with PID control and traditional sliding mode control methods, the sliding mode control method optimized by AEPSO algorithm greatly improves the control performance of PMSM and meets the application requirements of flotation machines in large mines. Finally, the feasibility of the proposed method is verified through the engineering test at Jiangxi Wushan Copper Mine. In addition, the control method has strong versatility and flexibility, and its design ideas, simulation analysis and experimental experience provide reference for researchers in the field of motor control.