Adaptive non-smooth position tracking control method for permanent magnet synchronous motor

Abstract

The invention discloses an adaptive non-smooth position tracking control method for a permanent magnet synchronous motor. According to the method of the invention, non-smooth control items and adaptive control items are combined reasonably, and position information is given; the current position and rotation speed information of the permanent magnet synchronous motor are obtained through a sensor;error and a regression vector are calculated; the non-smooth control items are calculated; the estimated values of parameter parts are calculated; and control current is calculated. The advantages ofnon-smooth control and adaptive control are combined; the non-smooth control is introduced into a controller to improve the speed and anti-disturbance capability of position tracking; adaptive onlinecompensation is performed on online parameter estimation and torque influence disturbance, and therefore, the robustness and control accuracy of position tracking control can be improved, and a permanent magnet synchronous motor servo system has better position tracking dynamic and static quality.

Description

technical field [0001] The invention relates to the field of permanent magnet synchronous motors, in particular to an adaptive non-smooth position tracking control method for permanent magnet synchronous motors. Background technique [0002] At present, there are mainly the following methods in the high-quality position tracking control of permanent magnet synchronous motors: one is to use the traditional adaptive control method to design the controller, this type of method can eliminate the influence of parameter uncertainty, but in trajectory tracking The performance of the error convergence speed and the suppression of external disturbances is limited; the second is the sliding mode controller designed by the sliding mode variable structure control method, which can make the system state on the sliding mode surface with different parameter perturbations and external disturbances. Denaturation, and has the advantages of no need for system online identification parameters, ...

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Problems solved by technology

[0002] At present, there are mainly the following methods in the high-quality position tracking control of permanent magnet synchronous motors: one is to use the traditional adaptive control method to design the controller, this type of method can eliminate the influence of parameter uncertainty, but in trajectory tracking The performance of the error convergence speed and the suppression of external disturbances is limited; the second is the sliding mode controller designed by the sliding mode variable structure control method, which can make the system state on the sliding mode surface with different parameter perturbations and external disturbances. Denaturation, and has the advantages of no need for system online identification parameters, simple physical realization, etc.

However, there are chattering problems in practical applications, so there are great difficulties in engineering applications

The third is finite time control. This method has faster convergence speed, smaller steady-state error boundary, and stronger anti-disturbance ability, but it does not have adaptive ability to load changes, so its control quality is greatly affected by load.

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