Permanent magnet synchronous motor sliding mode control method based on combined reaching law and storage medium

Abstract

The invention relates to a permanent magnet synchronous motor sliding mode control method based on a combined reaching law and a storage medium, and the sliding mode control method comprises the steps: 1, obtaining the actual rotor angular speed and rotor angle data of a permanent magnet synchronous motor; 2, establishing a mathematical model of the permanent magnet synchronous motor under a three-phase static coordinate system, and obtaining current component data under a two-phase static coordinate system; 3, obtaining voltage component data through a speed loop and a current loop; 4, obtaining inverter switching signal data through the voltage component data; 5, enabling the switching signal data to pass through a three-phase inverter, and then outputting three-phase stator voltage data; and 6, controlling the rotating speed and the torque of the permanent magnet synchronous motor by using the three-phase stator voltage data to realize the speed regulation of the motor. Compared with the prior art, the method has the advantages of being good in control effect, high in response speed, good in robustness and the like.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a sliding mode control method and a storage medium of a permanent magnet synchronous motor based on a combined reaching law. Background technique [0002] The advantage of sliding mode variable structure control is that there is no requirement for the accuracy of the system model, it can not be affected by the change of system parameters, and it can avoid interference in actual production. However, chattering problems exist in the traditional sliding mode control, which makes it very difficult to apply the sliding mode control in reality. Aiming at the chattering problem of sliding mode control, scholars at home and abroad have proposed intelligent control methods such as quasi-sliding mode method, reaching law method and fuzzy method. The quasi-sliding mode method introduces the concepts of "quasi-sliding mode" and "boundary layer" into the process of sliding mode control...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent CN108540030B discloses a sliding mode variable structure controller based on a new reaching law: the integral term of the error signal is introduced in the design of the sliding mode surface to avoid the requirement for the acceleration signal in the control amount and reduce the system Steady-state error; at the same time, a variable-speed reaching law is introduced to associate the approaching speed of the system with the change of the system state quantity |s|, so as to improve the dynamic quality of the system; in addition, the continuous function sigmoid(s) is used instead of the conventional reaching law The sign function sgn(s) in , although the chattering has been reduced progressively, the suppression effect is not obvious

[0004] Existing technologies can suppress the chattering phenomenon caused by sliding mode control to a certain extent, but they all have their limitations

The sliding mode method can effectively weaken buffeting and obtain better steady-state error, but the boundary layer method can only ensure that the system converges to the neighborhood centered on the sliding mode surface, and can only converge infinitely to the sliding mode surface but cannot Make the system state converge to the sliding mode surface; the approach law can not only ensure the motion quality of the sliding mode arrival process, but also weaken the high-frequency jitter of the control signal by adjusting the parameters of the approach rate, but the improper selection of parameters will aggravate the jitter At the same time, this method requires technical personnel to have relevant experience; the fuzzy method uses fuzzy control to estimate the uncertain items of the system online, thereby eliminating its influence, realizing the self-adjustment of the switching items, reducing the switching gain and chattering at the same time, but not very Good torque control effect, there is still a lot of room for improvement

Images