基于新型滑模算法的永磁同步电机转速控制研究
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摘要
针对永磁同步电机调速系统中PI控制器无法满足高精度控制要求的问题,提出了一种基于新型趋近律的滑模变结构控制方法。该趋近律在指数趋近律和幂次趋近律的基础上,加入了系统状态变量,有效地抑制滑模控制器在滑动阶段的抖振;等速趋近项与滑模面切换函数关联,保证其在s=0附近有效地稳定趋近,削弱抖振;指数趋近项与系统状态变量x_1关联,提高趋近速度。采用李雅普诺夫函数对其进行稳定性分析。经过与PI速度控制器以及传统的滑模控制器进行仿真比较,分析了空载起动、突加负载和变速运动3种情况下的控制效果,结果表明:采用新型滑模控制器可实现快速稳定趋近,并具有稳定性高、抗负载扰动能力强的优点。
In the speed control system of permanent magnet synchronous motor(PMSM), PI controller could not meet the requirements of high precision control. A sliding mode variable structure control method based on a new reaching law is proposed. The new reaching law combined the advantages of exponential reaching law and power reaching law, and with the addition of system state variables, it could effectively suppress the chattering of sliding mode controller in the sliding stage. The constant velocity approaching term was related to the sliding surface switching function, which ensured the effective and steady approaching of the reaching law near s=0 and weakened chattering; the exponential approaching term was associated with the system state variable x_1 to increase the approaching speed. The stability of the proposed method was proved by using the Lyapunov stability theory. The speed controller based on the new sliding mode algorithm was compared with the PI speed controller and the traditional sliding mode controller by simulation. The simulation results under the no-load start, sudden load and variable motion conditions showed that the system using this controller could achieve rapid response, high stability and strong resistance to load disturbance.
In the speed control system of permanent magnet synchronous motor(PMSM), PI controller could not meet the requirements of high precision control. A sliding mode variable structure control method based on a new reaching law is proposed. The new reaching law combined the advantages of exponential reaching law and power reaching law, and with the addition of system state variables, it could effectively suppress the chattering of sliding mode controller in the sliding stage. The constant velocity approaching term was related to the sliding surface switching function, which ensured the effective and steady approaching of the reaching law near s=0 and weakened chattering; the exponential approaching term was associated with the system state variable x_1 to increase the approaching speed. The stability of the proposed method was proved by using the Lyapunov stability theory. The speed controller based on the new sliding mode algorithm was compared with the PI speed controller and the traditional sliding mode controller by simulation. The simulation results under the no-load start, sudden load and variable motion conditions showed that the system using this controller could achieve rapid response, high stability and strong resistance to load disturbance.
引文
[1] 黄家才,施昕昕,李宏胜,等.永磁同步电机调速系统的分数阶积分滑模控制[J].吉林大学学报(工学版),2014,44(6):1736.
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[3] JIN X,WANG A,WANG D,et al.Sliding mode control of servo motor based on novel reaching law[C]//2018 37th Chinese Control Conference (CCC),2018:5653.
[4] 张晓光,赵克,孙力.基于负载转矩滑模观测的永磁同步电机滑模控制[J].中国电机工程学报,2012,32(3):111.
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[9] 秦超,高锋阳,庄圣贤,等.基于一种指数趋近律的PMSM滑模变结构控制[J].计算机仿真,2013,30(12):306.
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[12] 张博,齐蓉.基于双幂次滑模趋近律方法的PMLSM精密位置控制[J].微电机,2016,49(12):46.
[13] 王贵德.永磁同步电机调速系统的模糊趋近律滑膜控制[J].电气技术,2015(3):10.
[14] 杨立秋,袁雷.基于趋近律方法的永磁同步电机滑模速度控制器设计[J].船电技术,2016,36(1):74.
[15] 李玲瑞,许鸣珠,高旭东.基于新型混合趋近律的PMSM滑模变结构控制[J].微特电机,2017,45(1):67.
[16] 戴鹏,徐楠,谢后晴,等.永磁同步电机调速系统的快速幂次趋近律控制[J].电机与控制学报,2017,21(11):33.
[17] 吴祥瑞,高键.永磁同步电机滑膜变结构MATLAB仿真[J].电子设计工程,2017,25(11):111.
[18] 陈振,耿洁,刘向东.基于积分时变滑模控制的永磁同步电机调速系统[J].电工技术学报,2011,26(6):56.
[19] 高为炳.变结构控制理论基础[M].北京:中国科学技术出版社,1990:36.
[20] 刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005:23.
[2] LIN W J,LIU D L,WU Q X,et al.On sliding mode control of permanent magnet synchronous motor[C]//The 26th Chinese Control and Decision Conference (2014 CCDC),2014.
[3] JIN X,WANG A,WANG D,et al.Sliding mode control of servo motor based on novel reaching law[C]//2018 37th Chinese Control Conference (CCC),2018:5653.
[4] 张晓光,赵克,孙力.基于负载转矩滑模观测的永磁同步电机滑模控制[J].中国电机工程学报,2012,32(3):111.
[5] PAPONPEN K,KONGHIRUN M.An improved sliding mode observer for speed sensorless vector control drive of PMSM[C]//2006 CES/IEEE 5th International Power Electronics & Motion Control Conference,2006.
[6] CHOI H H,VU N,JUNG J W.Digital implementation of an adaptive speed regulator for a PMSM[J].IEEE Transactions on Power Electronics,2010,26(1):3.
[7] 左月飞,符慧,刘闯,等.考虑转速滤波的永磁同步电动机转速伺服系统改进型自抗扰控制器[J].电工技术学报,2016,31(9):137.
[8] ERROUISSI R,OUNROUCHE M,CHEN W H,et al.Robust nonlinear predictive controller for permanent-magnet synchronous motors with an optimized cost function[J].IEEE Transactions on Industrial Electronics,2012,59(7):2849.
[9] 秦超,高锋阳,庄圣贤,等.基于一种指数趋近律的PMSM滑模变结构控制[J].计算机仿真,2013,30(12):306.
[10] 童克文,张兴,张煜,等.基于新型趋近律的永磁同步电动机滑模变结构控制[J].中国电机工程学报,2008,28(21):102.
[11] 焦山旺,施火泉,汤一林.基于改进型指数趋近率的PMSM滑模控制[J].江南大学学报(自然科学版),2014,13(4):421.
[12] 张博,齐蓉.基于双幂次滑模趋近律方法的PMLSM精密位置控制[J].微电机,2016,49(12):46.
[13] 王贵德.永磁同步电机调速系统的模糊趋近律滑膜控制[J].电气技术,2015(3):10.
[14] 杨立秋,袁雷.基于趋近律方法的永磁同步电机滑模速度控制器设计[J].船电技术,2016,36(1):74.
[15] 李玲瑞,许鸣珠,高旭东.基于新型混合趋近律的PMSM滑模变结构控制[J].微特电机,2017,45(1):67.
[16] 戴鹏,徐楠,谢后晴,等.永磁同步电机调速系统的快速幂次趋近律控制[J].电机与控制学报,2017,21(11):33.
[17] 吴祥瑞,高键.永磁同步电机滑膜变结构MATLAB仿真[J].电子设计工程,2017,25(11):111.
[18] 陈振,耿洁,刘向东.基于积分时变滑模控制的永磁同步电机调速系统[J].电工技术学报,2011,26(6):56.
[19] 高为炳.变结构控制理论基础[M].北京:中国科学技术出版社,1990:36.
[20] 刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005:23.