Adaptive non-singular fast terminal sliding mode observer control method

Abstract

The invention provides an adaptive non-singular fast terminal sliding mode observer control method, and belongs to the field of motor torque control. The adaptive non-singular fast terminal sliding mode observer control method comprises the steps that the coefficients of the exponential reaching law in terminal attractors and the terminal attraction reaching law are adjusted adaptively through thetorque difference value, and the overall reaching rate is adjusted through the torque difference value change rate; a sliding mode hyperplane is determined through the stator current and voltage, andthe sliding mode hyperplane is adjusted adaptively through the torque difference value and the torque difference value change rate; the sliding mode control rate is obtained through the hyperplane and the reaching law, and the control rate is adjusted adaptively through the torque difference value and the torque difference value change rate; and real-time torque is calculated and obtained througha torque calculation module, and a torque difference value is generated by the real-time torque and the given torque. According to the adaptive non-singular fast terminal sliding mode observer control method, the terminal attractor reaching law, the control rate and the hyperplane are adjusted adaptively, the overshoot and oscillation phenomena of a sliding mode system during controlling switching are avoided, meanwhile, the quite good adaptive effect on parameter perturbation and external interference is achieved, and the stability performance of a brushless direct current motor control system is improved.

Description

technical field [0001] The invention belongs to the field of motor torque control, in particular to an adaptive non-singular fast terminal sliding mode observer control method. Background technique [0002] The sliding mode observer is a relatively special nonlinear control structure. Through the control switching of normal motion and sliding mode motion, the system is finally stabilized at the equilibrium point within a certain period of time, while the adaptive non-singular fast terminal sliding mode The observer is a variant of the sliding mode observer. In 1989, those skilled in the art proposed the concept of terminal sliding mode, which greatly reduced the system "chattering" problem in sliding mode control, but there was a strange phenomenon at the balance point; in the prior art, there is a The non-singular fast terminal sliding mode observer can improve the global approach speed of the system and solve the singularity problem at the equilibrium point, but the syste...

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Problems solved by technology

In 1989, those skilled in the art proposed the concept of terminal sliding mode, which greatly reduced the system "chattering" problem in sliding mode control, but there was a strange phenomenon at the balance point; in the prior art, there is a The non-singular fast terminal sliding mode observer can improve the global approach speed of the system and solve the singularity problem at the equilibrium point, but the system is easily disturbed by external factors and the dynamic performance is not good

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