Permanent magnet synchronous motor full-order sliding mode variable structure position servo control method based on extended state observer

Abstract

The invention provides a permanent magnet synchronous motor full-order sliding mode variable structure position servo control method based on an extended state observer. The permanent magnet synchronous motor full-order sliding mode variable structure position servo control method comprises the following steps of establishing a permanent magnet synchronous motor system, and initializing system state and related control parameters; designing the extended state observer; based on the extended state observer, designing a full-order sliding mode controller, eliminating the chattering problem in sliding mode control, and guaranteeing that the system state can be quickly and stably converged to be zero. According to the full-order sliding mode variable structure position servo control method provided by the invention, the chattering problem of sliding mode control can be improved, the control precision of the system is improved, and the implementation for quick and accurate tracking on desired trajectories of motor output position is guaranteed.

Description

technical field [0001] The invention relates to a full-order sliding mode variable structure position servo control method for a permanent magnet synchronous motor, in particular to a full-order sliding mode control method for a permanent magnet synchronous motor system whose partial states and upper bounds of nonlinear uncertain items are unknown. Background technique [0002] In the permanent magnet synchronous motor, due to the high control gain and the existence of the sign function in the traditional control method, there is a certain chattering problem. For the high-performance permanent magnet synchronous motor position servo system, how to weaken the chattering phenomenon in sliding mode control is a key technical problem to be solved urgently, which affects the precise positioning and position tracking performance of the motor system, and even affects the motor in severe cases. The system itself causes damage. In order to solve the problem of chattering in sliding ...

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Problems solved by technology

[0002] In the permanent magnet synchronous motor, the traditional control method has a certain chattering problem due to the high control gain and the existence of the sign function.

For the high-performance permanent magnet synchronous motor position servo system, how to weaken the chattering phenomenon in sliding mode control is a key technical problem to be solved urgently, which affects the precise positioning and position tracking performance of the motor system, and even affects the motor in severe cases. damage to the system itself

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