带有负载转矩观测器的PMSM自适应反步控制

摘要

The backstepping control method was proposed due to the nonlinear characteristics of permanent magnet synchronous motor. The design of the method was simple, and it can decouple the control system completely so the method can achieve better control than traditional PI control method. Because of the temperature changes, resistance value will change also. We present a combination method of Adaptive Control and the backstepping control method to overcome the instability of the system influenced by parameters. In addition,we design a load torque sliding mode observer to reduce the influences of load change. The observed load torque was used for feed-forward compensation. Simulation results show that the adaptive backstepping control and the load observer can effectively improve the dynamic response speed of the control system,and make the system has strong robustness.%针对永磁同步电机( PMSM)的非线性特点，引入了反步控制方法。该方法设计过程简单，且能够实现PMSM控制系统的完全解耦，控制效果明显优于传统的PI控制方法。考虑到在电机运行过程中电阻易受温度变化而改变阻值，提出了自适应方法与反步法相结合的控制策略，克服了参数改变对系统稳定性能的影响。设计了一套负载转矩滑模观测器来降低负载实变对速度的影响，将辨识的转矩引入电流环控制中实现电流的前馈补偿。仿真结果表明，自适应反步控制与负载观测器相结合能够有效提高控制系统的动态响应速度，使系统具有较强的鲁棒性。