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

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.

Adaptive sliding mode controller based on extended state observer for PMSM speed control

In this paper, an adaptive sliding mode control method based on the extended state observer is proposed for permanent magnet synchronous motor speed regulating system with parameter uncertainties and load disturbance. In the presence of the system model parameter uncertainties and load disturbance, the extended state observer is employed to estimate the total disturbance in real time and compensate it in the course of control, thus reducing the influence of the total disturbance on the control precision and improving the dynamic performance of the system. Since the upper bound of the system observation error can not be obtained accurately, the switching control gain of the adaptive sliding mode controller is adjusted by the parameter adaptation law, which can improve the chattering phenomenon of the system effectively and ensure that the system output can track desired signals with high accuracy. Comparing to the traditional PI control method, the simulation results demonstrate that the proposed method achieves smaller overshoot and better tracking accuracy, and has better suppression for parameter uncertainties and load disturbance of the system. Moreover, the proposed method can reduce chattering problem effectively and improve the robustness of the system.