Permanent magnet synchronous motor control method based on sliding mode load torque observer

Abstract

The invention discloses a permanent magnet synchronous motor control method based on a sliding mode load torque observer, which comprises the steps of firstly, designing a dead-beat prediction controller according to a mechanical motion equation of a permanent magnet synchronous motor on the basis of a mathematical model of the permanent magnet synchronous motor; then designing a sliding mode loadtorque observer; and finally, analyzing the sliding mode load torque observer to realize accurate control of the permanent magnet synchronous motor. According to the method, the sliding mode load torque observer is combined with the dead-beat prediction controller, so that the dynamic response speed of the sliding mode load torque observer is improved; and meanwhile, the constant-speed approach law containing a sign function in the traditional sliding mode observer is replaced by a smooth approach law based on a sine function, so that the sliding mode buffeting in the traditional sliding modeobserver is restrained, and the arrival time of a sliding mode surface is shortened.

Description

Technical field [0001] The invention belongs to the technical field of motor control, and relates to a permanent magnet synchronous motor control method based on a sliding mode load torque observer. Background technique [0002] my country has become the world's largest producer, application and exporter of rare earths. Rare earth cobalt and neodymium iron boron permanent magnet materials are widely used in permanent magnet motors because of their high remanence, high coercivity, and high energy product. Permanent magnet synchronous motors (PMSM) are typical One of the applications. Permanent magnet synchronous motors are widely used in AC motor transmission fields, such as industrial robots, CNC machine tools, electric vehicles, etc., because of their small size, simple structure, high power density and large torque-to-inertia ratio. With the increasing demand for high-performance servo control systems in the above-mentioned fields and the development of these fields themselve...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a permanent magnet synchronous motor control method based on a sliding mode load torque observer, which solves the slow speed response and poor control effect of the permanent magnet synchronous motor in the prior art under complex working conditions of load disturbance bad question

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