一种永磁同步电机无模型高阶滑模控制算法  

Model-Free High Sliding Mode Control for Permanent Magnet Synchronous Motor

作　　者：赵凯辉[1] 刘文昌 刘智诚 贾林[2] 黄刚[2] Zhao Kaihui;Liu Wenchang;Liu Zhicheng;Jia Lin;Huang Gang(College of Electrical and Information Engineering Hunan University of Technology,Zhuzhou 412007,China;College of Railway Transportation Hunan University of Technology,Zhuzhou 412007,China)

机构地区：[1]湖南工业大学电气与信息工程学院,株洲412007 [2]湖南工业大学轨道交通学院,株洲412007

出　　处：《电工技术学报》2023年第6期1472-1485,共14页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金项目(52172403,62173137);湖南省自然科学基金项目(2021JJ50052,2020JJ6067);湖南省教学改革研究项目(HNJG-2022-0847);湖南省教育厅科学研究项目(21A0354,21C0446);湖南工业大学研究生科研创新项目(CX2204)资助。

摘　　要：针对城市轨道交通高转矩永磁同步牵引电机因参数摄动和未知扰动等不确定因素造成控制性能下降的现象,提出一种基于扩展非奇异终端滑模扰动观测器的转速环新型无模型非奇异快速终端滑模控制方法。首先,依据永磁同步牵引电机在参数摄动和未知扰动下的数学模型,使用转速环的输入输出建立新型超局部模型。其次,基于新型超局部模型设计转速环的无模型非奇异快速终端滑模控制器;同时结合高阶滑模和非奇异终端滑模设计观测器来实时精准估计新型超局部模型的未知部分,通过对控制器进行前馈补偿,增强了系统的鲁棒性,提高了转速的控制精度,并减少了系统抖振。最后,通过与PI控制、无模型滑模控制进行仿真和实验综合比较,验证了所提出的控制算法对电机参数摄动和未知扰动具有较强的容错性和抗干扰性,能降低对电机精准数学模型的依赖。Permanent magnet synchronous traction systems have been widely used in high-speed trains and urban rail because of the advantages of high power density,high overload capacity,and fast dynamic torque.PI control technology has become the mainstream control method for motors owing to the advantages of the simple method and easy engineering implementation.However,PMSM is susceptible to unknown disturbances,parameter perturbation,and other uncertainties under complex traction conditions,and it is difficult to suppress the disturbances using traditional PI control.The overall control performance of the motor decreases,and satisfactory control results cannot be achieved in high-performance applications.The control performance of high torque permanent magnet traction synchronous motor in urban rail transit is degraded by uncertainties.Therefore,this paper proposes a novel model-free non-singular fast terminal sliding mode control strategy for the speed loop based on an extended non-singular terminal sliding mode disturbance observer.Firstly,a novel ultra-model is established based on the mathematical model of the permanent magnet synchronous traction motor under parametric perturbation and unknown perturbations using the input and output of the speed loop.Secondly,the model-free non-singular fast terminal sliding mode controller is designed based on the novel ultra-model.Then,combined with the higher-order sliding and non-singular terminal sliding modes,a real-time observer is designed for estimating the unknown part of the novel ultra-model.Consequently,the system’s robustness is improved by the feedforward compensation of the controller,the control accuracy of the speed is improved,and the system jitter is reduced.Finally,a comprehensive comparison with PI control and model-free sliding mode control(MFSMC)by simulation and experiment is carried out.It is shown that the proposed control method has strong fault tolerance and anti-disturbance to motor perturbation and unknown disturbances.In addition,the dependence on t

关 键 词：高转矩永磁同步牵引电机 新型超局部模型 无模型非奇异快速终端滑模控制 扩 展非奇异终端滑模扰动观测器 

分 类 号：TM351[电气工程—电机]