PMSM位置伺服系统的自适应反步滑模控制

摘要

An adaptive backstepping sliding mode controller was designed to solve the location tracking problem of the PMSM position servo system with the uncertain parameters and time-varying load torque, by means of backstepping design ideas, adaptive control and sliding mode control. With the help of the controller and Lyapunov theory ,the system is demonstrated to be global asymptotic stability. Numerical experiments show that the system can effectively suppress uncertain parameter disturbance and load torque with strong robustness so that the location output can effectively track the reference signal.%针对PMSM位置伺服系统参数和负载的不确定因素,借助于反步设计思想与自适应控制和滑模控制相结合,研究该系统的位置跟踪自适应反步滑模控制器.利用Lyapunov理论,获证该系统在所获控制器作用下是全局渐近稳定的.数值实验显示,该控制器能有效抑制系统参数和负载转矩的变化,系统的鲁棒性强,位置输出能有效跟踪参考信号.