基于负载转矩观测的矿用牵引电机积分滑模控制

摘要

In order to improved the speed control performance of the tractor motor and system's anti-disturbance as well as the robustness to the parameter change,the PI control strategy of the control system was replaced by the integral sliding mode control strategy.Aiming at load changes in the running process of the electric locomotive,the load torque observer was designed to observe the load torque in real-time,the observed value was integrated into the control strategy and improved the speed of the load mutation control.It could also improve the dynamic and static characteristics of traction motor.Simulation experiments showed that the load observer could quickly and accurately follow the load changes.The sliding mode speed controller with load observation kept the locomotive speed stable when the working conditions were complex,and the dynamic and static performances of the locomotive and the anti-jamming performance were improved.%为了改善电机车牵引电机速度控制性能,提高系统抗扰性能和对参数变化的鲁棒性,提出了在控制系统的速度控制器中用积分滑模代替传统PI控制.设计了负载转矩观测器对负载转矩实时观测,将观测值加入到控制中,提高了在负载突变时的速度控制能力.仿真表明,负载转矩观测器能快速、准确地观测负载转矩,带负载观测的滑模转速控制对负载扰动和转子电阻有较强的鲁棒性,有效地抑制了滑模控制的固有抖振.