永磁同步电机新型趋近律滑模控制器设计  

Design of new reaching law of sliding mode controller for permanent magnet synchronous motor

作　　者：康尔良[1] 朱金荣 韩康玮 KANG Erliang;ZHU Jinrong;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7期112-119,130,共9页Electric Machines and Control

基　　金：国家重点研发计划(2020YFF0402198)。

摘　　要：针对传统指数趋近律因函数不连续性引起抖振、趋近速度与抖振抑制之间无法同时满足高性能控制系统要求的问题,提出基于系统状态变量的新型滑模趋近律,并应用于永磁同步电机速度、电流控制器中。趋近律引入系统状态变量幂次项和状态变量的双曲正弦值,使系统状态变量以等速和指数2种速率趋向切换面,可以加快系统到达切换面的速度,当系统接近切换面时,指数项接近于0,等速项开始起关键作用,对系统的抖振进行抑制。同时采用双曲正切开关函数替代符号函数,以去除因函数的不连续性所引起的抖振问题。既能提高系统到达滑模面的速度,又能有效抑制固有抖振,提升系统的动态性能。仿真和实验结果表明,新型趋近律相比于传统指数趋近律能够有效降低永磁同步电机启动时转速超调,提高系统的响应速度,抑制系统的抖振。In order to solve the problem that the jitter caused by the function discontinuity in the traditional exponential reaching law and the approaching speed and jitter suppression of the traditional exponential reaching law cannot meet the requirements of the high-performance control system at the same time,a new sliding mode reaching law based on system state variables was proposed and applied to the speed and current controller of permanent magnet synchronous motor.By introducing the power terms of the system state variable and the hyperbolic sine of the state variable,the system state variable tends to the sliding-mode surface at two rates:isokinetic and exponential.The speed at which the system reaches the sliding-mode surface can be accelerated by this method.And when the system approaches the sliding-mode surface,the exponential term approaches zero,and the isokinetic term begins to play a key role in suppressing the jitter of the system.At the same time,the hyperbolic tangent switch function was used instead of the symbolic function to eliminate the jitter problem caused by the discontinuity of the function.This method can not only improve the speed of the system reaching the sliding-mode surface,but also effectively suppress the inherent jitter and improve the dynamic performance of the system.Simulation and experimental results show that compared with the traditional exponential approach law,the new approach law can effectively reduce the speed overshoot of the permanent magnet synchronous motor when starting,improve the response speed of the system,and suppress the jitter of the system.

关 键 词：永磁同步电机 滑模控制 速度控制器 电流控制器 动态性能 抖振问题 

分 类 号：TM341[电气工程—电机]