永磁同步电动舵机系统滑模变结构控制器设计  

Sliding Mode Variable Structure Controller Design for Permanent Magnet Synchronous Electric Steering System

作　　者：苏伟杰 张军 张波 王厚浩 陶键 SU Weijie;ZHANG Jun;ZHANG Bo;WANG Houhao;TAO Jian(Shanghai Aerospace Control Technology Institute,Shanghai 201109,China)

机构地区：[1]上海航天控制技术研究所,上海201109

出　　处：《上海航天》2018年第3期101-107,共7页Aerospace Shanghai

摘　　要：针对电动舵机系统,建立表贴式永磁同步电机(SPMSM)矢量控制模型。设计基于指数趋近律的滑模变结构控制器,并在此基础上进行抖振抑制。利用变指数趋近律滑模控制器与比例-积分-微分(PID)控制器相结合,设计组合控制器,既可最大程度地发挥滑模变结构控制的快速性与鲁棒性,又可利用PID控制的优势减小系统最后的抖振。最后,通过与基于指数趋近律的滑模控制器进行仿真对比,验证组合控制器对电动舵机系统抖振的抑制效果。仿真结果表明:设计的组合控制器将系统静差减小了85%,并基本消除了滑模末端的抖振。Based on electric steering system,a vector control model of the surface permanent magnet synchronous motor（SPMSM）is established.A sliding mode variable structure controller based on index reaching law is designed,and chattering inhibition is carried out on this basis.A combined controller is designed by the combination of variable index reaching law sliding mode controller and PID controller.This controller can not only maximize the rapidity and robustness of sliding mode variable structure control,but also make use of the advantages of PID to reduce the chattering.Finally,the chattering inhibitory effect of this electric steering system is verified by comparing with the simulation of sliding mode controller based on index reaching law.The simulation results show that the combined controller can reduce the static error by 85% and basically eliminate the chattering at the end of the sliding mode.

关 键 词：永磁同步电机 电动舵机 滑模变结构 抖振抑制 变指数趋近率 组合控制器 静差 

分 类 号：TM341[电气工程—电机]