基于高阶滑模观测器的永磁同步电机无差拍预测电流控制

Deadbeat predictive current control of permanent magnet synchronous motor based on higher order sliding mode observer

中文关键词  永磁同步电机  无差拍预测电流控制  高阶滑模观测器  滑模控制

英文关键词  PMSM  deadbeat predictive current control  high-order sliding mode observer  sliding mode control

中文摘要

      为了提高永磁同步电机速度和电流跟踪精度等控制性能, 本文提出了一种基于高阶滑模观测器的永磁同步电机无差拍预测电流控制方法. 首先, 将参数变化和外部负载变化视为集总扰动, 建立内置式永磁同步电机的数学模型. 然后, 构造了两个三阶超螺旋滑模观测器来分别估计速度和电流回路中的集总扰动, 并将估计出的扰动前馈到对应的控制器中进行补偿, 以提高系统的鲁棒性和跟踪精度. 此外, 转速环采用了一种改进的滑模趋近律, 以降低控制信号中的抖振和缩短系统状态到达滑模面所需的时间. 最后, 将所设计的方法在内置式永磁同步电机实验平台进行验证, 并与传统的无差拍预测电流控制和指数趋近律滑模速度控制器进行了对比, 实验结果表明了算法的有效性和优越性

英文摘要

      In order to improve the control performance of permanent magnet synchronous motor (PMSM), such as the tracking accuracy of the speed and the current, a high-order sliding mode observer based on the deadbeat predictive control method for PMSM is proposed in this paper. The mathematical model of the interior permanent magnet synchronous motor is established considering the parameter uncertainties and external load as lumped disturbances. To improve the robustness and the tracking accuracy of the proposed control algorithm, two third-order super twisting sliding mode observers are constructed to estimate and attenuate the lumped disturbances in the speed and current loops, respectively. An improved sliding mode reaching law is employed in the speed loop to reduce the chattering and improve the convergence rate. Finally, the proposed method is validated on the interior PMSM experiment platform, and compared with the conventional deadbeat predictive current control and exponential reaching law sliding mode speed controller. The experimental results show the effectiveness and superiority of the proposed method.