永磁同步电机调速系统反演终端滑模控制

摘要

针对永磁同步电机的转速跟踪控制问题,提出一种基于反演终端滑模控制策略,提高了调速系统的响应速度和对外界扰动及参数摄动的抑制能力.在反演设计速度控制中加入积分项,并且利用负载转矩观测器实时估计负载转矩,把转矩估计值作为前馈电流补偿,以抑制负载突变带来的影响,提高系统抗负载扰动的能力;在反演设计的最后一步结合高阶非奇异终端滑模控制律,消除了控制量的抖振,使得电流环定子电流在有限时间内收敛,减少反演设计对电机参数的敏感性,提高了鲁棒性.理论分析和仿真结果表明所提出控制策略具有有效性和可行性.%For permanent magnet synchronous motor speed tracking control problems,backstepping technique with terminal sliding mode control is proposed.The method enhances the quick response and anti-disturbance ability of the control system.An integral factor is applied to the backstepping control to improve the performance of steady-state and achieve zero steady-state error.A load torque observer is used to estimate load torque in real time to be the feed forward current compensation.The influence on the performance of control system caused by load torque disturbance can be inhibited.In the last step of backstepping,the nonsingular terminal sliding control is designed to eliminate the chattering and make the current reach the given values in a finite period of time and make the system rubost to uncertainties.Theoretical analysis and Matlab simulation results show that the proposed control strategy is effective and feasible.