Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order

A technology of permanent magnet synchronous motor and non-singular terminal, which is applied in the direction of motor generator control, electronically commutated motor control, control system, etc., and can solve problems such as damaging system stability, large overshoot, and poor system speed response , to achieve the effect of solving chattering problem, continuous and smooth control signal, and fast response speed

Active Publication Date: 2015-01-07
严格集团股份有限公司
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Problems solved by technology

[0004] (2) The limited output capacity of the existing inverter makes the permanent magnet synchronous motor control system generally have the Windup problem
It can be seen that due to the limiting effect, the actual output of the speed controller with the computed output i q * not equal, that is This is a typical Windup problem, which will lead to poor system speed response, large overshoot when the given speed command changes in a wide range, and even destroy the stability of the system

Method used

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  • Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order
  • Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order
  • Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order

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specific Embodiment approach 1

[0030] Specific implementation mode one: combine figure 1 , the anti-rest Windup smooth non-singular terminal sliding mode control method based on the relative order of the permanent magnet synchronous motor of the present embodiment, it is realized according to the following steps:

[0031] 1. Permanent magnet synchronous motor speed vector control system:

[0032] The mathematical model of the system in the dq synchronous rotating coordinate system can be expressed as:

[0033] i · d = - R s L i d + pω i q ...

specific Embodiment approach 2

[0044] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is: combining figure 2 , it is noted that since the smooth non-singular terminal sliding mode control method proposed in the present invention contains integral terms, the Windup problem described by Eq.

[0045] Learn from the integral elimination idea of ​​the Anti-reset Windup method in PI control, introduce an adaptive anti-saturation mechanism, superimpose it into the speed tracking deviation system, and use the switching item i of the smooth non-singular terminal sliding mode speed controller qn Adaptively eliminate the windup problem, specifically:

[0046] (1) Suppose the speed given signal ω * Smooth enough, speed tracking deviation e ω = ω * -ω and speed controller output signal deviation The variation is bounded, where, η′ 1 >0 is the feedback compensation coefficient, from formula (1), the speed tracking deviation system can be obtain...

specific Embodiment approach 3

[0081] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the smooth non-singular terminal sliding mode quadrature axis current controller in the step 3 is specifically:

[0082] Define the bias variable e q = i q * -i q , from formula (1), the quadrature axis current deviation system can be obtained as

[0083] e · q = i · q * - i · q = i · q * + pω i d + R s L i q + p ψ ...

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Abstract

The invention relates to an Anti-rest Windup smooth nonsingular terminal sliding mode control method for a permanent magnet synchronous motor based on a relative order, and aims to solve the problem that the control continuity of a system and the smoothness of an output signal are damaged by chattering of a permanent magnet synchronous motor control system due to the high-frequency control switching behavior of a conventional sliding mode control method and the problem that the permanent magnet synchronous motor control system generally has the Windup problem due to finite output capacity of an existing inverter. The anti-rest Windup smooth nonsingular terminal sliding mode control method comprises the following steps: 1, designing a permanent magnet synchronous motor rotating speed vector control system; 2, designing an Anti-rest Windup smooth nonsingular terminal sliding mode rotating speed controller; 3, designing a smooth nonsingular terminal sliding mode alternating current controller; 4, designing a smooth nonsingular terminal sliding mode direct current controller. The Anti-rest Windup smooth nonsingular terminal sliding mode control method is applied to the field of robust control on the permanent magnet synchronous motor.

Description

technical field [0001] The invention relates to a permanent magnet synchronous motor Anti-rest Windup smooth non-singular terminal sliding mode control method. Background technique [0002] (1) The high-frequency switching control behavior of the traditional sliding mode control method causes chattering problems in the permanent magnet synchronous motor control system, which destroys the control continuity of the system and the smoothness of the output signal. [0003] At present, the traditional linear sliding mode control method and terminal sliding mode control method are most widely used in permanent magnet synchronous motor control systems, which are more robust and have excellent performance indicators than the PI control method commonly used in engineering. However, the prominent control characteristic of sliding mode control is "switching". Although the ideal infinitely fast switching frequency guarantees its robust characteristics, due to the limited switching frequ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/00
Inventor 王艳敏曹雨晴夏红伟申立群
Owner 严格集团股份有限公司
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