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为了提高永磁同步电机的转速控制性能,克服扰动对伺服控制的影响,提出了一种基于新型趋近律和扰动观测器的滑模控制方法.设计了一种新型趋近律,以解决传统趋近律滑模面趋近时间和系统抖振之间的矛盾,提高系统响应快速性.综合考虑系统存在内部参数摄动和外部负载扰动,设计了滑模扰动观测器,并将观测值前馈补偿到速度控制器输出端;将观测器切换增益设计为扰动观测误差的函数,以削弱滑模观测值抖振.仿真结果显示,与传统趋近律相比,采用新型趋近律可有效提高系统的响应速度,快速准确的跟踪速度阶跃信号;滑模观测器可准确的观测系统扰动的变化;当系统加入负载扰动时,PI控制最大转速波动值为75 r·min~(-1),而基于新型趋近律和扰动观测器的滑模控制最大转速波动值较小为30 r·min~(-1),鲁棒性更好.实验结果显示,采用基于新型趋近律和扰动观测器的滑模控制方法可以快速跟踪400 r·min~(-1)的速度指令,调节时间为0.12 s,稳态跟踪误差为±4 r·min~(-1),且转速无超调;滑模观测器可准确无超调的估计系统扰动值,进一步提高系统的抗扰动性能;当电机以400 r·min~(-1)稳速运行时,加入0.6 N·m的负载扰动,基于新型趋近律和扰动观测器的滑模控制方法最大转速波动为23 r·min~(-1),与PI控制相比,转速波动减小了8%.上述仿真和实验结果具有较好的一致性,表明基于新型趋近律和扰动观测器的滑模控制方法可以有效抑制滑模控制系统的抖振,提高转速控制系统的鲁棒性和动态响应性能.
In order to improve the speed control performance of permanent magnet synchronous motor and overcome the influence of disturbance on servo control, a sliding mode control method based on the new approach and perturbation observer is proposed. A new type of reaching law is designed to solve the problem of traditional Approaching the contradiction between the approaching time of the law slip surface and the chattering of the system and improving the response speed of the system.Through considering the perturbation of the internal parameters and the disturbance of the external load, the sliding mode disturbance observer is designed, The compensation is fed back to the output of the speed controller, the observer switching gain is designed as a function of disturbing observational error to weaken the chattering of the sliding mode observations, and the simulation results show that the new reaching law is effective compared with the traditional reaching law The response of the system is increased, and the velocity step signal is tracked quickly and accurately. The sliding mode observer can accurately observe the system disturbance. When the system is loaded with disturbance, the maximum rotational speed of PI control is 75 r · min ~ (-1) ), While the maximum speed fluctuation of sliding mode control based on the new approach law and perturbation observer is less than 30 r · min -1, the robustness is better.Experimental results show that, based on the new approach and Disturbance observer The sliding mode control method can quickly track the speed command of 400 r · min ~ (-1), the adjustment time is 0.12 s, the steady-state tracking error is ± 4 r · min -1, and the speed does not overshoot. The sliding mode The observer can accurately estimate the system disturbance value without overshoot to further improve the anti-disturbance performance of the system. When the motor runs steadily at 400 r · min -1, the load disturbance of 0.6 N · m is added. Based on the new trend Near-law and perturbed observer sliding mode control maximum speed fluctuations of 23 r · min ~ (-1), compared with the PI control, speed fluctuations reduced by 8%. The simulation and experimental results have good consistency It shows that the sliding mode control method based on the new approach law and disturbance observer can effectively suppress the chattering of the sliding mode control system and improve the robustness and dynamic response of the speed control system.