Permanent magnet synchronous motor adaptive sliding mode control method based on dynamic surface

Abstract

The present invention discloses a permanent magnet synchronous motor adaptive sliding mode control method based on a dynamic surface. The method comprises the following steps of: establishing a permanent magnet synchronous motor standardization model with time varying and time lag; applying a single-weight RBF neural network with an approaching function for processing unknown disturbance and unknown system dynamics into the design of a controller; and performing design of an adaptive sliding mode controller in a backstepping frame, wherein a first-order low pass filter is introduced to processthe problem of 'differential item explosion' in a traditional backstepping control, a rapid terminal sliding mode is employed to further improve the tracking precision and obtain better performances,and an adaptive sliding mode control method is employed in a condition of merging of the rapid terminal sliding mode surface, the first-order low pass filter and the RBF neural network. The method reduces the requirements of system accurate modeling and parameter accurate measurement, simplifies the controller design, overcomes the influences of external disturbance, chaos vibration and time varying and time delay on the system and improves the system operation stability and motion precision.

Description

technical field [0001] The invention relates to a permanent magnet synchronous motor, in particular to an adaptive sliding mode control method for a permanent magnet synchronous motor based on a dynamic surface. Background technique [0002] Permanent magnet synchronous motors are applied to robots and machine tool control systems because of their advantages such as energy saving, high efficiency, small size, simple structure and long life. However, when they are affected by uncertain factors such as system parameter disturbances and external disturbances It exhibits rich dynamic phenomena, such as limit cycle and chaotic behavior. Among them, chaotic behavior will directly destroy the stability and reliability of the entire motor system. Regarding the control methods of permanent magnet synchronous motors, most previous scholars have based on precise dynamic models, and rarely considered the influence of parameter changes, uncertain bounded disturbances and unknown gains o...

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Problems solved by technology

At the same time, in order to meet the high-quality control requirements of the motor, and considering the safety of the motor and the actual process requirements, time lag, chaos and parameter uncertainty have become important factors that cannot be ignored in the design of the system controller.

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