基于递推最小二乘法观测器的永磁同步伺服电机变参数滑模控制  

Variable Parameter Sliding Mode Control of Permanent Magnet Synchronous Servo Machine Based on Recursive Least Square Observer

作　　者：黄依婷 沈建新[1] 王云冲 陈毅东 HUANG Yiting;SHEN Jianxin;WANG Yunchong;CHEN Yidong(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,Zhejiang Province,China;Shenzhen Zhaowei Machinery&Electronics Co.,Ltd.,Shenzhen 518105,Guangdong Province,China)

机构地区：[1]浙江大学电气工程学院,浙江省杭州市310027 [2]深圳市兆威机电股份有限公司,广东省深圳市518105

出　　处：《中国电机工程学报》2022年第18期6835-6845,共11页Proceedings of the CSEE

基　　金：国家自然科学基金项目(52007161,51837010)。

摘　　要：在采用传统滑模控制(sliding mode control,SMC)方法的永磁同步电机(permanent magnet synchronous machine,PMSM)伺服系统中,阶跃位置响应会在系统参数变化时发生超调或响应速度变慢。针对该问题,该文提出一种变参数滑模控制(variable parameter sliding mode control,VSMC)方法,利用最小二乘法观测器观测系统的惯量和负载转矩,并将二者的观测值代入到VSMC滑模面参数的计算式中,计算出不同工况下的滑模面参数,实现变参数控制。同时,还提出获取该计算式的两种方法——解析分析法和拟合法。仿真和实验均验证了所提算法的可行性,证明VSMC可使系统在转动惯量等参数发生变化时仍然能够快速且无超调地跟随阶跃的位置指令,有较强的鲁棒性。In a permanent magnet synchronous machine(PMSM) servo system which uses traditional sliding mode control(SMC), the step position response often suffers from overshoot or slow dynamics when the system parameters vary.Considering this problem, a variable parameter sliding mode control(VSMC) method was proposed. A least square observer was used to observe the system inertia and load torque, and the observed values were substituted into the calculation formula of the VSMC sliding surface parameter under different operation conditions to realize the variable parameter control.Moreover, two methods, viz. Analytical method and fitting method, were proposed to obtain the calculation formula.Simulation and experiments verified the feasibility of the proposed algorithm, proving that with the VSMC, the position response can follow the step reference command quickly without overshoot, even when the system inertia and other parameters change, and the system robustness is strong.

关 键 词：永磁同步电机 位置伺服系统 变参数滑模控制 最小二乘法 鲁棒性 

分 类 号：TM351[电气工程—电机]