Speed Adaptive Sliding Mode Control with an Extended State Observer for Permanent Magnet Synchronous Motor
Speed Adaptive Sliding Mode Control with an Extended State Observer for Permanent Magnet Synchronous Motor
复制标题
DOI：
10.1155/2018/6405923
复制
发表时间：
2018-01
影响因子：
--
通讯作者：
Peipei Xia;Yongting Deng;Zhiqiang Wang;Hongwen Li
中科院分区：
文献类型：
--
作者：
Peipei Xia;Yongting Deng;Zhiqiang Wang;Hongwen Li
本文将滑模控制策略应用于永磁同步电机矢量控制系统，以提高系统对参数变化和负载扰动的鲁棒性。为了降低SMC的固有抖振行为，提出了一种具有自适应律和扩展状态观测器（ESO）的速度SMC。该方法基于李雅普诺夫稳定性定理，推导出自适应估计律，用于估计由参数变化和未建模动力学引起的永磁同步电机不确定性。在线估计的不确定度可以消除实际不确定度带来的影响。此外，采用ESO对负载扰动进行了实时观测。然后将观测到的负载扰动值作为前馈补偿作用到速度自适应SMC控制器的输出侧。仿真和实验结果表明，该方法有效地减轻了系统抖振，增强了系统对不确定性和负载干扰的鲁棒性。
The sliding mode control (SMC) strategy is employed to a permanent magnet synchronous motor (PMSM) vector control system in this study to improve system robustness against parameter variations and load disturbance. To decrease the intrinsic chattering behavior of SMC, a speed SMC with an adaptive law and an extended state observer (ESO) is proposed. In this method, based on the Lyapunov stability theorem, adaptive estimation laws are deduced to estimate uncertainties of a PMSM caused by parameter variations and unmodeled dynamics. Online estimated uncertainties can be used to eliminate the effect caused by the real uncertainties. In addition, an ESO is applied to observe the load disturbance in real time. The load disturbance observed value is then utilized to the output side of the speed adaptive SMC controller as feed-forward compensation. Both the simulation and experiment results demonstrate that the proposed approach effectively alleviates system chattering and enhances system robustness against uncertainty and load disturbance.