基于ESO的永磁同步电机自耦合无模型滑模控制  

Self-coupling Model-free Sliding Mode Control of Permanent Magnet Synchronous Motor Based on ESO

作　　者：侯利民[1] 张如月 王巍[1] HOU Limin;ZHANG Ruyue;WANG Wei(Faculty of Electrical and Control Engineering,Liaoning Technical University,Huludao 125105,China)

机构地区：[1]辽宁工程技术大学电气与控制工程学院,辽宁葫芦岛125105

出　　处：《控制工程》2024年第6期1035-1043,共9页Control Engineering of China

基　　金：国家自然科学基金资助项目(52177047);辽宁省教育厅基金资助项目(LJ2019JL011,LJ2020QNL013)。

摘　　要：为了解决基于模型的永磁同步电机调速系统易受外部负载扰动影响的问题,实现转速的高性能控制,提出自耦合无模型滑模级联式统一化控制策略。考虑参数不确定性以及内外扰动,建立了永磁同步电机双环超局部矢量模型。在传统无模型滑模控制器的基础上,通过选取比例双重积分滑模面设计了级联式无模型滑模速度、电流控制器,有效减小了转速的稳态误差。通过设计速度因子解决了控制器比例积分增益整定不合理的问题,同时采用扩张状态观测器对超局部模型中的未知部分进行估计并进行前馈补偿,设计了基于扩张状态观测器的永磁同步电机自耦合无模型滑模控制调速系统。通过与PI控制及传统无模型滑模控制的对比仿真与实验分析,验证了所提控制策略的可行性与有效性。In order to solve the influence of external load disturbance on the model-based permanent magnet synchronous motor speed regulation system and realize high-performance speed control,the self-coupling model-free sliding mode cascade unified control strategy is proposed.Considering parameter uncertainty as well as internal and external disturbances,a double loop ultra-local model of permanent magnet synchronous motor is established.Based on the traditional model-free sliding mode control method,a cascade model-free sliding mode speed and current controller are designed by selecting the proportional double integral sliding surface function,which effectively reduces the steady-state error of speed.By designing the speed factor,the problem of unreasonable methods of obtaining proportional gain and integral gain in the controller are solved.At the same time,the extended state observer(ESO)is designed to estimate the unknown terms of the ultra-local model and feed-forward compensation is applied to the controller.The self-coupling model-free sliding mode control method of PMSM based on ESO is designed.For performance evaluation,simulations and experiments are conducted and results are compared with those of PI control and traditional model-free sliding mode control method.Results verified the feasibility and effectiveness of the proposed control strategy.

关 键 词：永磁同步电机 无模型滑模控制 自耦合PI 增益整定 

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