多元干扰下永磁同步电机滑模鲁棒控制  

Sliding Mode Robust Control for Permanent Magnet Synchronous Motor under Multiple Disturbance

作　　者：张柯[1] 曹坤洋 孔国利 ZHANG Ke;CAO Kunyang;KONG Guoli(School of Electromechanical Engineering,Henan Polytechnic,Zhengzhou He’nan 450046,China;School of Information Engineering,Zhengzhou Institute of Technology,Zhengzhou He’nan 450044,China)

机构地区：[1]河南职业技术学院机电工程学院,河南郑州450046 [2]郑州工程技术学院信息工程学院,河南郑州450044

出　　处：《电子器件》2020年第6期1346-1351,共6页Chinese Journal of Electron Devices

基　　金：国家自然科学基金青年项目(61705198);河南省科技攻关项目(182102210150)。

摘　　要：为了提高永磁同步电机转子转速在未知负载力矩和电路扰动等影响下的控制精度,提出了一种滑模鲁棒控制方法。首先建立了包含多元干扰的永磁同步电机转速模型,通过设计自适应干扰观测器来估计未知负载力矩的大小,并对其收敛性进行了证明,然后采用非奇异终端滑模面设计了鲁棒控制律,并引入滑模自适应律估计出电路扰动的大小,最终实现了对多元扰动下永磁同步电机的鲁棒控制。实验结果表明:提出的滑模鲁棒控制方法与自抗扰控制方法相比,具有更优的稳定性、准确性和快速性,转速和加速度的最大误差分别仅为0.05 r/s和0.005 r/s2,自适应干扰观测器的估计误差仅为0.1 N·m,滑模自适应律的估计误差仅为0.05 V,大大提高了永磁同步电机转动的控制精度。To improve the control accuracy of PMSM rotor speed under the influence of unknown load torque and circuit disturbance,a robust control method is proposed.Firstly,the speed model of PMSM with multiple disturbances is established,and the magnitude of unknown load torque is estimated by designing adaptive disturbance observer,whose convergence is proved.Then,the robust control law is designed by using nonsingular terminal sliding surface,and the magnitude of circuit disturbance is estimated by introducing sliding mode adaptive law.Finally,the robust control of PMSM with multiple disturbances is realized.The experimental results show that the proposed sliding mode robust control method has better stability,accuracy and rapidity than the ADRC method,the maximum error of speed and acceleration is only 0.05 r/s and 0.005 r/s2 respectively,the estimation error of adaptive disturbance observer is only 0.1 N·m,and the estimation error of sliding mode adaptive law is only 0.05 V,which greatly improves the control accuracy of PMSM rotation.

关 键 词：永磁同步电机 多元干扰 自适应干扰观测器 滑模自适应律 滑模鲁棒控制 

分 类 号：TM351[电气工程—电机]