Integral sliding mode control of permanent magnet synchronous motor based on disturbance compensation

Abstract

The invention claims to protect an integral sliding mode control method of a permanent magnet synchronous motor speed regulating system based on interference compensation, Firstly, the speed controller based on integral sliding mode is designed according to the mathematical model of permanent magnet synchronous motor (PMSM). Secondly, a generalized proportional-integral observer (GPIO) is designedfor disturbance compensation. Finally, a hybrid speed controller is designed by using the speed controller and the disturbance estimate. Compared with the uncompensated integral sliding mode controlmethod, this method can compensate the disturbance to restrain the disturbance, has small fluctuation amplitude, fast speed regulation and good tracking effect, and can meet the application requirements of high-performance permanent magnet synchronous motor speed control system.

Description

technical field [0001] The invention belongs to an interference suppression method of a permanent magnet synchronous motor, in particular to an integral sliding mode control method based on interference compensation for a speed regulating system of a permanent magnet synchronous motor. Background technique [0002] With the development of aerospace, medical devices, robotics, manufacturing, etc., more and more fields have higher and higher requirements for precision. The permanent magnet synchronous motor has the advantages of simple structure, small size, low quality, high power density, long life and so on, and is widely used in various fields. However, there are various disturbances in the actual control system, such as system parameter changes, load mutations, unmodeled dynamics, friction interference, signal acquisition errors and other disturbances. [0003] In order to suppress interference and improve the control accuracy of the motor speed, experts have successivel...

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Problems solved by technology

Although the traditional sliding mode control has the advantages of simple structure, fast response speed, and strong robustness, there is a certain steady-state error; the process of differentiating the speed will introduce high-frequency disturbances, which is not conducive to the motor speed. High-precision control, and in the traditional sliding mode control, when observing the load or disturbance, there is a large observation error due to the change of the motor parameters, which reduces the control accuracy of the speed

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