永磁同步电机自适应非奇异快速终端滑模控制

Adaptive non-singular fast terminal sliding mode control of permanent magnet synchronous motor

中文关键词  LuGre模型  永磁同步电机  自适应参数估计  滑模控制

英文关键词  LuGre model  permanent magnet synchronous motor  adaptive parameter estimation  sliding mode control

中文摘要

      本文针对含LuGre摩擦模型的永磁同步电机系统中参数未知问题,提出了一种新颖的基于参数估计误差信 息的自适应非奇异快速终端滑模控制方法,以保证参数估计误差和跟踪误差同时收敛.为了估计系统的未知参数, 通过引入辅助滤波器来提取参数估计误差信息,然后将参数估计误差信息嵌入到自适应律设计中,实现对系统未知 参数的估计.为了提高永磁同步电机的跟踪精度,提出了一种改进的滑模面,并将设计的自适应律嵌入到滑模面中, 设计了自适应非奇异快速终端滑模控制器,通过李雅普诺夫稳定性理论保证估计误差和跟踪误差的同时收敛.最 后, 通过对比仿真和实验验证了本文所提控制算法的有效性.

英文摘要

      This paper proposes a novel adaptive non-singular fast terminal sliding mode control method based on param eter estimation error information for the unknown parameters of permanent magnet synchronous motor system with LuGre friction model to guarantee the parameter estimation error convergence and tracking error convergence simultaneously. For this purpose, an auxiliary filter is introduced to extract the error information of parameter estimation. Then the error in formation of parameter estimation is used to drive adaptive law design to realize the estimation of unknown parameters of the system. In order to improve the tracking accuracy of permanent magnet synchronous motor, an improved non-singular fast terminal sliding mode surface is proposed. Then the new adaptation is incorporated into an improved non-singular fast terminal sliding mode surface to design controller. Then, using the Lyapunov stability analysis to ensure the convergence of estimation error and tracking error simultaneously. Finally, the effectiveness of the developed method is validated by using the comparative simulations and experiments.