永磁同步电机伺服控制(连载之五)变参数滑模位置伺服控制  

Servo Control of Permanent Magnet Synchronous Motor(Part 5):Variable Parameter Sliding Mode Position Servo Control

作　　者：黄依婷 房钰超 史丹 王云冲 陈毅东 沈建新[1,2] HUANG Yiting;FANG Yuchao;SHI Dan;WANG Yunchong;CHEN Yidong;SHEN Jianxin(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China;Zhejiang Provincial Key Laboratory of Electrical Machine Systems,Hangzhou 310027,China;Shenzhen Zhaowei Machinery&Electronics Co.,Ltd.,Shenzhen Guangdong 518000,China)

机构地区：[1]浙江大学电气工程学院,杭州310027 [2]浙江省电机系统智能控制与变流技术重点实验室,杭州310027 [3]深圳市兆威机电股份有限公司,深圳518000

出　　处：《微电机》2022年第12期1-8,共8页Micromotors

基　　金：浙江省尖兵计划(2022C01001);国家自然科学基金(52007161,51837010)。

摘　　要：永磁同步电机伺服系统采用传统定参数滑模控制时,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,本文将滑模控制器与递推最小二乘法观测器相结合,利用观测器观测得到的系统转动惯量和负载转矩值对滑模面参数进行修正,构成变参数滑模控制器,以进一步增强伺服系统的鲁棒性。仿真和实验证明变参数滑模控制器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 motor servo system which uses traditional fixed parameter sliding mode control(SMC),step position response often suffers from overshoot or slow dynamics when the system parameters vary.Considering this problem,this paper combined the SMC with a recursive least square observer,so that the observed values of system inertia and load torque were used to modify the sliding mode surface parameter to form a variable parameter SMC(VSMC),so as to further enhance the robustness of the servo system.Simulation and experiments proved that the VSMC can make the position response follow the step reference command quickly without overshoot,when the system inertia and other parameters change,system robustness exhibiting strong.

关 键 词：永磁同步电机 变参数滑模控制 位置伺服 鲁棒性 

分 类 号：TM351[电气工程—电机] TM341[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]