基于反步自适应滑模控制的永磁同步电机位置伺服系统  

A Position Servo System of Permanent Magnet Synchronous Motor Based on Back-Stepping Adaptive Sliding Mode Control

作　　者：付培华[1] 陈振[1] 丛炳龙[1] 赵静[1] 

机构地区：[1]北京理工大学自动化学院复杂系统智能控制与决策重点实验室,北京100081

出　　处：《电工技术学报》2013年第9期288-293,301,共7页Transactions of China Electrotechnical Society

基　　金：国家重点基础研究发展计划(973计划)(2012CB720000);北京市自然科学基金(4122066)资助项目

摘　　要：针对永磁同步电机位置伺服系统的强鲁棒性、高控制精度以及快速无超调响应要求,基于反步思想提出了一种反步自适应滑模控制(ASMC)策略。通过将反步设计方法与滑模控制结合,解决了传统PID三环系统位置跟踪精度不高,响应慢及鲁棒性差的问题。将自适应机制引入到滑模控制算法设计中,去除了对扰动及系统参数不确定性上界信息的先验要求。利用Lyapunov稳定性理论给出了闭环系统的稳定性分析。最后在DSP实验系统平台上对本文设计的算法进行了验证。实验结果表明,与PID控制相比,所提方法具有控制精度高、系统响应速度快且鲁棒性强的特点。For the position servo system of permanent magnet synchronous motor（PMSM）, a back-stepping based adaptive sliding mode control（ASMC） strategy is proposed in this paper to meet the requirements of strong robustness, high control accuracy, fast and non-overshoot response. The combination of back-stepping and sliding mode control solves the problems of low-accuracy, poor system performance, and weak robustness in the conventional PID design. Meanwhile, the introduction of adaptive mechanism releases the priori knowledge of upper bounds on disturbance and parametric uncertainty. Lyapunov stability theorem is employed to provide the stability analysis of the closed-loop system. Finally, the proposed method is verified on DSP based experimental platform. The experimental results show that the proposed design performs better than conventional PID control with respect to the tracking accuracy, robustness and response speed.

关 键 词：反步法 自适应滑模 永磁同步电机 位置伺服系统 

分 类 号：TM351[电气工程—电机]