基于滑模迭代学习的永磁同步电动机鲁棒控制

摘要

The permanent magnet synchronous motor(PMSM)is a widely used typical non -linear, multi -variable , and strong-coupled system. It is sensitive to the load disturbance and the change of interior parameter. Considering the characteristics of the conventional PI controller not only is difficult to obtain its parameters but also has limited compensation to the non -linear of PMSM. Based on iterative learning control (ILC) , a sliding mode variable structure control (SMC) scheme was proposed for permanent magnet synchronous motor drive system in order to solvethe robust speed tracking problem. ILC generally improved the performance in the repetitive tasks by using the information from previous iterations, and VSC which has the advantages of fasting response and non-sensitive to the disturbance of the parameters was a good solution to the problem of robustness. Experimental results of the proposed controller show its effectiveness and correctness.%永磁同步电机(PMSM)是一个典型的非线性、多变量、强耦合系统,对外界扰动及内部参数变化较为敏感.针对常规PI控制器参数整定困难,且对永磁同步电机非线性补偿有限,采用一种结合迭代学习控制与滑模变结构技术的控制器,用于永磁同步电机系统的鲁棒速度跟踪.迭代学习控制通过重复执行同一任务来减少误差,使系统输出尽可能逼近理想值,结合滑模变结构控制响应快、对参数变化及扰动不敏感等优点很好的解决了鲁棒性问题.试验结果证明了该方法的有效性和正确性.