基于前馈补偿的永磁直驱电机低速抗扰动滑模控制策略  

Permanent Magnet Direct Drive Motor Based on Feedforward Compensation Low Speed Anti Disturbance Sliding Mode Control Strategy

作　　者：刘佳[1] 李晨曦 李荣 季飚 卜飞飞[1] 秦海鸿[1] LIU Jia;LI Chenxi;LI Rong;JI Biao;BU Feifei;QIN Haihong(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;No.724 Research Institute of China Shipbuilding Industry Corporation,Nanjing 211106,China;Shanghai Institute of Mechanical and Electrical Engineering,Shanghai 201100,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]中国船舶重工集团公司第七二四研究所,南京211106 [3]上海机电工程研究所,上海201100

出　　处：《微特电机》2023年第1期38-44,共7页Small & Special Electrical Machines

摘　　要：研究了一种基于前馈补偿的永磁直驱伺服电机低速抗扰动滑模控制策略,用以提高低速运行时速度控制的稳定性。通过调整不同系统状态下的滑模面趋近速度,构造了一种新型指数趋近率函数,使得系统在滑模面附近切换更加平滑;为了提升负载突变等恶劣工况下系统的扰动抑制能力,引入降阶扰动观测器对系统受到的转矩扰动进行观测,并进行前馈补偿,通过前馈补偿与改进趋近率组合的方式提高系统的鲁棒性。仿真和实验结果表明,该控制策略对永磁直驱伺服电机低速运行时的多种扰动具有明显抑制效果。A low-speed anti disturbance sliding mode control strategy of permanent magnet direct drive servo motor based on feedforward compensation was studied to improve the stability of speed control at low speed. By adjusting the approach speed of sliding mode surface under different system states, a new exponential approach rate function was constructed, which made the system switch more smoothly near the sliding mode surface. In order to improve the disturbance suppression ability of the system under bad working conditions such as sudden load, a reduced order disturbance observer was introduced to observe the torque disturbance received by the system, and feedforward compensation was carried out. The robustness of the system was improved by the combination of feedforward compensation and improved approach rate. The simulation and experimental results show that the control strategy has obvious suppression effect on various disturbances of permanent magnet direct drive servo motor at low speed.

关 键 词：永磁直驱伺服电机 扰动抑制 降阶状态观测器 前馈补偿 改进趋近率 滑模控制 

分 类 号：TM351[电气工程—电机]