永磁同步电机非线性增益非奇异快速终端滑模控制  

Nonlinear gain non-singular fast terminal sliding mode control for permanent magnet synchronous motors

作　　者：康尔良[1] 于浩天 韩康玮 KANG Eriang;YU Haotian;HAN Kangwei(Engineering Technology Research Center of High Efficiency Direct-Drive System in Universities in Heilongjiang,Harbin University of Science and Technology,Harbin 150080,China;Technical Center for Mechanical and Electrical Product Inspection and Testing of Shanghai Customs District,Shanghai 200030,China)

机构地区：[1]哈尔滨理工大学黑龙江省高校直驱系统工程技术研究中心,黑龙江哈尔滨150080 [2]上海海关机电产品检测技术中心,上海200030

出　　处：《电机与控制学报》2024年第5期73-81,共9页Electric Machines and Control

基　　金：国家重点研发计划项目(2020YFF0402198)。

摘　　要：为了研究传统滑模控制中系统误差在有限时间内无法收敛至0以及传统滑模控制中系统抖振与收敛速度互不兼容的问题,提出一种非奇异快速终端滑模控制与扰动观测器结合的速度控制器。通过将参数可变的非线性函数作为增益代替固定增益加入滑模控制策略中从而改善系统响应速度同时减小系统的抖振。针对转矩扰动对系统的影响,加入负载转矩扰动观测器并补偿到q轴电流中以进一步提高控制器抗负载扰动能力。根据李雅普诺夫稳定性理论对提出的新型滑模控制器进行稳定性证明,经过仿真和实验证明,电机在启动时响应快、无超调且抖振较小,在突加转矩时转速波动小且恢复时间迅速,证明了改进后的变增益非奇异终端滑模控制与传统非奇异快速终端滑模控制策略相比可以提高动态性能的同时抑制系统抖振、增强系统的鲁棒性。To address the challenges of system error non-convergence and buffeting-convergence incompatibility in traditional sliding mode control,a speed controller is proposed,combining non-singular fast terminal sliding mode control with a disturbance observer.By using a variable nonlinear function as a gain instead of a fixed gain in the sliding mode control strategy,the system response speed is improved while reducing system oscillation.To address the impact of torque disturbances on the system,a load torque disturbance observer is added and compensated into the q-axis current to further enhance the controller’s ability to resist load disturbances.According to Lyapunov stability theory,the stability of the proposed new sliding mode controller has been proven.After simulation and experiments,it’s been proven that the motor starts up quickly without overshooting and with minimal vibration.When sudden torque is applied,the speed fluctuation is minimal and the recovery time is faster.Compared to traditional methods,this improved variable gain control enhances dynamic performance,suppresses buffeting,and improves system robustness.

关 键 词：永磁同步电机 速度控制器 非奇异快速终端滑模 趋近率 扰动补偿 

分 类 号：TM351[电气工程—电机]