基于ESO的永磁同步电机伺服系统快速终端滑模控制  

Fast terminal sliding mode control of permanent magnet synchronous motor servo system with ESO

作　　者：张智鑫 刘旭东[1] ZHANG Zhi-xin;LIU Xu-dong(College of Automation,Qingdao University,Qingdao Shandong 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071

出　　处：《控制理论与应用》2023年第7期1233-1242,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(52037005);山东省高校青年创新科技支持计划项目(2019KJN033)资助。

摘　　要：为了优化永磁同步电机(PMSM)伺服系统的控制性能,本文提出了一种基于非奇异快速终端滑模控制(NFTSMC)和扩张状态观测器(ESO)的复合控制策略.论文首先建立了考虑集总扰动的永磁同步电机数学模型,根据所定义的非奇异终端滑模面和趋近律,设计了位置跟踪控制器,所设计的控制器采用非级联结构替代了传统的位置环和速度环控制器,并通过李亚普诺夫定理证明了稳定性和有限时间内收敛.为了进一步提高系统的抗扰动性能,本文引入了扩张状态观测器来估计系统扰动并将其应用于前馈补偿.然后,文章对系统整体进行了稳定性证明.最后,文章完成了基于所设计控制器的仿真和实验验证.结果表明,该控制器具有良好的位置跟踪性能且收敛速度快,对外部干扰具有强鲁棒性.In order to optimize the control performance of the permanent magnet synchronous motor(PMSM)servo system,a composite control strategy based on the non-singular fast terminal sliding mode control(NFTSMC)and extended state observer(ESO)is proposed.Firstly,the mathematical model of permanent magnet synchronous motor considering lumped disturbance is established,according to the defined non-singular terminal sliding surface and approach law,a position tracking controller is designed,the designed controller adopts a non-cascaded structure to replace the traditional position loop and velocity loop controllers,and the stability and finite time convergence are proved by the Lyapunov theorem.In order to further improve the anti-disturbance performance of the system,an extended state observer is introduced to estimate the system disturbance and applied to feedforward compensation.Then,the stability of the whole system is proved.Finally,the simulation and experimental verification based on the designed controller are completed.The results show that the controller has good position tracking performance and fast convergence speed,strong robustness to external interference.

关 键 词：永磁同步电机 位置控制 非奇异快速终端滑模控制 扩张状态观测器 

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