基于分数阶扩展滑模扰动观测器的PMSM转速环无模型递归非奇异终端滑模控制
Model-free Recursive Nonsingular Terminal Sliding Mode Control of PMSM Speed Loop Based on Fractional-order Extended Sliding Mode Disturbance Observer
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摘要: 针对永磁同步电机转速环中存在的参数变化和外部负载扰动的问题, 为了提高调速系统的响应速度和抗干扰能力, 提出了一种基于分数阶扩展滑模扰动观测器(FOESMDO)的转速环新型无模型递归非奇异终端滑模控制(MFRNTSMC)方法。首先, 构建基于传统数学模型的永磁同步电机新型超局部模型。其次, 结合新型超局部模型和递归非奇异终端滑模控制理论, 设计位于转速环的无模型递归非奇异终端滑模控制器。并且设计一种分数阶扩展滑模扰动观测器, 该观测器在精确补偿系统未知部分的同时还提升了转速环控制器的抗干扰能力。最后, 通过仿真和实验对比, 验证所提的滑模控制方法的优越性。Abstract: Aiming at the problems of parameter changes and external load disturbances in the speed loop of permanent magnet synchronous motors, a novel model-free recursive nonsingular terminal sliding mode control (MFRNTSMC) method for the speed loop based on the fractional order extended sliding mode disturbance observer is proposed in this study to improve the response speed and anti-disturbance capability of a speed control system. First, a novel ultra-local model of a permanent magnet synchronous motor based on the traditional mathematical model is developed. Second, a model-free recursive nonsingular terminal sliding mode controller located in the speed loop is designed by combining the novel ultra-local model and the recursive nonsingular terminal sliding mode control theory; a fractional order extended sliding mode disturbance observer is designed, which not only accurately compensates the unknown portion of the system but also improves the anti-disturbance ability of the speed loop controller. Finally, the superiority of the proposed sliding mode control method is verified by comparing simulation and experiment results.
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