永磁同步电动机新型自适应滑模控制

永磁同步电动机(PMSM)是多变量、强耦合、非线性时变系统, 对外界干扰及内部参数摄动较为敏感, 为提高系统的鲁棒性, 本文提出一种基于非线性滑模面的自适应滑模变结构控制方法. 根据复合非线性反馈控制理论, 为PMSM滑模控制系统设计非线性滑模面, 通过实时改变控制系统的阻尼系数来提高PMSM伺服系统的瞬态响应性能. 在PMSM伺服系统外界扰动及内部参数摄动的上下界未知的情况下, 采用自适应参数校正律来调节控制增益的大小, 改善了系统的抖振现象. 此外, 对电机的电流及转速进行了饱和限制, 使得所设计的伺服控制系统可用于大范围的位移跟踪. 仿真结果表明, 与基于线性滑模面的控制器相比较, 本文所设计的基于非线性滑模面的自适应滑模控制器使得电机转子位移能够更快且无超调的到达给定值, 且系统的抖振现象明显减弱.

Novel adaptive sliding mode control for permanent magnet synchronous motor

This paper presents a novel adaptive sliding mode control method with a nonlinear sliding surface for permanent magnet synchronous motor (PMSM) in order to enhance the robustness of PMSM servo control system. According to the composite nonlinear feedback control theory, nonlinear sliding surface with a gain matrix having variable damping ratio is designed to improve the transient response performance. Meanwhile, the adaptive parameter tuning law used in the controller eliminates the need of prior knowledge about the upper bound of external disturbance and parameter perturbation. In addition, the current and speed of PMSM are limited by saturation in order to make the servo system track a wide range of displacement. Comparing to the sliding mode control with linear sliding surface, the simulation results demonstrate that the method proposed by this paper not only makes the rotor of PMSM reaching the set value faster and without any overshoot, but also weakens the chattering phenomenon of the system.