无刷直流电机转速伺服系统反步高阶滑模控制  

Backstepping high order sliding mode control for brushless DC motor speed servo control system

作　　者：张庆超[1] 马瑞卿[1] 

机构地区：[1]西北工业大学自动化学院,西安710072

出　　处：《控制与决策》2016年第6期961-968,共8页Control and Decision

基　　金：国家自然科学基金面上项目(51177135)

摘　　要：针对无刷直流电机转速伺服系统高性能非线性鲁棒控制,提出一种新型的多滑模反步高阶滑模非线性控制方法.在控制律设计的每一步都引入二阶滑模Super-Twisting算法,无需计算变量导数,消除了滑模抖振,并在第1级子系统虚拟控制律设计中提出一种改进的二阶滑模Super-Twisting算法.与传统双闭环PI控制相比,能够令系统的动静态性能更好,转矩脉动更小,鲁棒性更强;与标准Super-Twisting算法相比,进一步提高了系统对阶跃负载扰动的抑制能力.最后通过仿真分析表明了所提出方法的有效性.For higher performance speed servo robustness control of brushless DC motor（BLDCM）, a novel multiple sliding mode backstepping high order sliding mode nonlinear control approach is proposed. The second order sliding mode SuperTwisting algorithm（STA）,which needs no derivative of any variables and eliminates the sliding mode chattering, is used in each step design of the whole backstepping control law. And a self-adaption STA（SSTA） is proposed and used in the virtual control law of the first level subsystem. Compared with the traditional dual closed loop PI control, the proposed method makes the system have higher dynamic and static performance, smaller torque ripple and stronger robustness. Compared with the traditional STA, the proposed SSTA can futher improve the system＇s robustness for the step load disturbance.Finally, simulation analysis shows the effectiveness of the proposed method.

关 键 词：无刷直流电机 高阶滑模控制 反步控制 非线性控制 鲁棒性 

分 类 号：TM351[电气工程—电机]