基于层次非奇异终端和超螺旋滑模扰动观测器的永磁同步电机滑模控制  

Sliding mode control of permanent magnet synchronous motor based on hierarchical nonsingular terminal and super-twisting sliding mode disturbance observer

作　　者：梁庭福 李鑫帅 王鹏康 毛汉领[1] LIANG Tingfu;LI Xinshuai;WANG Pengkang;MAO Hanling(School of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,南宁530004

出　　处：《兵器装备工程学报》2025年第2期196-203,共8页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(202201013);广西人才和基地专项项目(AD19259002)。

摘　　要：针对永磁同步电机(permanent magnet synchronous motor, PMSM)在运行过程中比例积分(proportional integral, PI)控制会因参数时变和外部扰动导致控制性能下降严重,传统线性滑模控制(sliding mode control, SMC)收敛速度慢、存在抖振等问题,设计了层次非奇异终端滑模控制器(hierarchical non-singular terminal sliding mode control, HNSTSMC),以线性比例积分微分(proportional integral differential, PID)滑模面作为内环、快速非奇异终端滑模面为外环构建层次滑模面,采用改进型趋近律,保证速度跟踪误差全局快速收敛;为了进一步提高层次非奇异终端滑模控制器的抗干扰能力与减小抖振,利用超螺旋滑模扰动观测器(super-twisting sliding mode disturbance observer, STSMDO)对控制器中存在的未知量在线辨识并进行前馈补偿。通过Matlab/simulink仿真对PI控制、传统滑模控制、层次非奇异终端滑模控制、基于改进型负载转矩观测器的非奇异快速终端滑模控制(NFTSMC+LTOB)和HNSTSMC+STSMDO复合滑模控制进行对比分析,结果表明HNSTSMC+STSMDO复合控制在电机空载情况下,额定转速响应无超调、调节时间为0.013 s,突加2 N·m负载情况下,最大速度波动为130 r/min,恢复时间为0.004 5 s,带载切换到0.5倍额定转速,调节时间为0.127 s,永磁同步电机动态性能好、抗干扰能力强。Aiming at the problem that the proportional integral(PI)control of permanent magnet synchronous motor(PMSM)will cause serious control performance degradation due to parameter time-varying and external disturbance during operation,the traditional linear sliding mode control(SMC)has slow convergence speed and chattering.A hierarchical non-singular terminal sliding mode controller(HNSTSMC)is designed.The linear proportional integral differential(PID)sliding mode surface is used as the inner loop,and the fast non-singular terminal sliding mode surface is used as the outer loop to construct the hierarchical sliding mode surface.The improved reaching law is used to ensure the global fast convergence of the speed tracking error.In order to improve the anti-interference ability of the hierarchical nonsingular terminal sliding mode controller and reduce the chattering,the super-twisting sliding mode disturbance observer(STSMDO)is used to identify the unknowns in the controller online and perform feedforward compensation.The PI control,traditional sliding mode control,hierarchical non-singular terminal sliding mode control,nonsingular fast terminal sliding mode control based on improved load torque observer(NFTSMC+LTOB)and HNSTSMC+STSMDO composite sliding mode control are compared and analyzed by Matlab/Simulink simulation.The results show that the HNSTSMC+STSMDO compound control has no overshoot in the rated speed response and the adjustment time is 0.013 s under the no-load condition of the motor.Under the sudden load of 2 Nm,the maximum speed fluctuation is 130 r/min,the recovery time is 0.0045 s,the load is switched to 0.5 times the rated speed,and the adjustment time is 0.127 s.The permanent magnet synchronous motor has good dynamic performance and strong anti-interference ability.

关 键 词：永磁同步电机 层次非奇异终端滑模控制 超螺旋滑模扰动观测器 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]