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针对永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)在低速运转时存在的转速脉动及电磁转矩脉动问题,提出了一种新型滑模速度控制器。为了解决传统等速趋近律存在的缺点,首先设计了一种新型的等速趋近律算法,该方法能够根据系统状态距离平衡点的远近而自适应调整等速趋近律速度。另外,建立了包含参数不确定性及负载扰动的PMSM数学模型,利用滑模变结构控制能够有效地提高系统的鲁棒性和收敛性的优点,设计了一种基于新型趋近律方法的滑模速度控制器,并给出了PMSM控制系统的稳定性证明。结果表明,与常规滑模控制器相比,该算法不仅提高了系统的响应速度,减小了稳态误差,同时也有效地抑制了PMSM的脉动现象。
Aiming at the problems of speed ripple and electromagnetic torque ripple existing in the permanent magnet synchronous motor (PMSM) at low speed, a new type of sliding mode speed controller is proposed. In order to solve the shortcomings of the traditional isometric approach, a new isokinetic approach algorithm is designed. This method can adaptively adjust the isometric approach speed according to the distance of the system equilibrium point. In addition, a mathematical model of PMSM including parameter uncertainty and load disturbance is established. By using the sliding mode variable structure control which can effectively improve the robustness and convergence of the system, a new sliding law based on the new approach Mode speed controller, and gives the proof of the stability of PMSM control system. The results show that compared with the conventional sliding mode controller, this algorithm not only improves the response speed of the system, but also reduces the steady-state error and effectively suppresses the pulsation of PMSM.