改进的表贴式PMSM快速超扭曲滑模位置跟踪控制

谭草; 郝明基; 陆佳瑜; 韦青坤; 任浩鑫

doi:10.13700/j.bh.1001-5965.2023.0612

改进的表贴式PMSM快速超扭曲滑模位置跟踪控制

doi: 10.13700/j.bh.1001-5965.2023.0612

谭草¹,
郝明基^{1, 2},
陆佳瑜^1, ,,
韦青坤¹,
任浩鑫¹

1.
山东理工大学交通与车辆工程学院，淄博 255000
2.
山东交通职业学院车辆工程学院，潍坊 261000

基金项目:

国家自然科学基金(52305265)；山东省自然科学基金(ZR2023ME178)；山东省科技中小企业创新能力提升项目(2023TSGC0404)；山东省高等学校“青创团队计划”(2022KJ232)

详细信息

通讯作者:
E-mail：lujiayu@sdut.edu.cn

中图分类号: TM341
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出版历程
- 收稿日期: 2023-09-26
- 录用日期: 2023-11-03
- 网络出版日期: 2023-11-20
- 整期出版日期: 2025-11-25

Improved surface PMSM fast super-twisted sliding mode position tracking control

TAN Cao¹,
HAO Mingji^{1, 2},
LU Jiayu^{1
, ,},
WEI Qingkun¹,
REN Haoxin¹

1.
School of Transportation and Vehicle Engineering，Shandong University of Technology，Zibo 255000，China
2.
School of Vehicle Engineering，Shandong Transport Vocational College，Weifang 261000，China

Funds:

National Natural Science Foundation of China (52305265); Shandong Provincial Natural Science Foundation (ZR2023ME178); Shandong Province Science and Technology Small and Medium Enterprises Innovation Ability Enhancement Project (2023TSGC0404); Shandong Province Higher Education “Youth Innovation Team Plan” (2022KJ232)

More Information

Corresponding author: E-mail：lujiayu@sdut.edu.cn

摘要

摘要:
针对表贴式永磁同步电机(PMSM)伺服系统的位置跟踪控制问题，提出一种基于改进快速超扭曲算法(STA)的非奇异快速终端滑模控制(NFTSMC)和自适应扩展滑模扰动观测器(AESMDO)的复合控制策略。建立含扰动的表贴式PMSM数学模型；为避免奇异性和抖振现象，设计快速超扭曲非奇异快速终端滑模控制器，将改进的快速STA作为趋近阶段的切换控制律，相比于传统的二阶滑模有更快的趋近速度。针对电机容易受到参数变化及外界干扰影响的特点，为提高系统抗干扰能力，设计AESMDO来估计扰动，并以前馈方式进行补偿，通过Lyapunov定理证明系统的稳定性及在有限时间内收敛，并进行了试验验证。结果表明：设计的控制器实现了对系统给定值有效的跟踪控制，有效消除了抖振现象，提高了系统的鲁棒性。
- 表贴式永磁同步电机 /
- 非奇异快速终端滑模 /
- 超扭曲算法 /
- 自适应扩展滑模扰动观测器 /
- 位置跟踪
Abstract:
To solve the problem of position tracking control of the surface permanent magnet synchronous motor (PMSM) servo system, a compound control strategy based on non-singular fast terminal sliding mode control (NFTSMC) using an improved fast super-twisting algorithm (STA) and adaptive extend sliding mode disturbance observer (AESMDO) is proposed. Firstly, the mathematical model of surface PMSM with disturbance is established. Secondly, a fast super-twisting nonsingular fast terminal sliding mode controller is designed to prevent singularity and chattering. The improved fast STA is used as the switching control law of the approach phase, which has a faster approach speed than the traditional second-order sliding mode. In order to improve the system’s ability to resist disturbance, finally, an AESMDO is designed to estimate the disturbance and compensate by the feedforward method. The stability and convergence of the system in finite time are proved by Lyapunov’s theorem, and the experiment is carried out. The outcomes demonstrate how well the developed controller can monitor and regulate the system’s specified value, effectively remove the buffeting phenomenon, and increase the system’s resilience.
- surface permanent magnet synchronous motor /
- non-singular fast terminal sliding mode /
- super-twisting algorithm /
- adaptive extend sliding mode disturbance observer /
- position tracking

HTML全文

图 1 基于复合控制策略的表贴式PMSM伺服系统结构

Figure 1. Structure of surface PMSM servo system based on the composite control strategy

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图 2 本文复合控制策略位置环框图

Figure 2. Block diagram of the position loop of the composite control strategy in this paper

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图 3 表贴式PMSM试验平台

Figure 3. Surface PMSM experimental platform

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图 4 AESMDO对扰动的影响

Figure 4. The effect of AESMDO to the disturbance

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图 5 改进前后q轴参考电流输出对比

Figure 5. Comparison of q-axis reference current output before and after improvement

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图 6 正弦跟踪试验结果

Figure 6. Tracking experimental results of sine

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图 7 阶跃跟踪试验结果

Figure 7. Tracking experimental results of step

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图 8 白噪声下方波跟踪结果

Figure 8. Square wave tracking results in white noise

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图 9 给定负载下三角目标跟踪结果

Figure 9. Results of triangular tracking results for a given load

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图 10 转动惯量变化和磁链变化时的跟踪结果

Figure 10. Tracking results of changing the inertia and the magnetic linkage

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表 1 表贴式PMSM参数

Table 1. Surface PMSM parameters

参数	数值
输出额定功率/W	400
额定转速/(r·min⁻¹)	3000
额定电压/V	60
额定电流/A	8.5
极对数	4
定子电阻/$ \Omega $	0.19
定子电感/$ {\rm H} $	0.00065
转子磁链/$ {\text{Wb}} $	0.018
转动惯量/($ {\text{kg}} \cdot {{\text{m}}^{\text{2}}} $)	0.0000342
阻尼系数/(N·s·m⁻¹)	0.0001

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表 2 位置跟踪误差分析数据

Table 2. Position tracking error analysis data rad

信号类型	控制方法	平均误差	最大误差	标准差
正弦信号	PI	0.0066	0.4500	0.1051
	SMC	0.0128	0.4050	0.0697
	NFTSMC^[24]	0.0207	0.4680	0.0723
	本文	0.0103	0.3640	0.0453
阶跃信号	PI	0.6599	0.0600	2.6350
	SMC	0.5322	0.0350	2.5289
	NFTSMC^[24]	0.5134	0.0150	2.6560
	本文	0.4413	0.0002	2.5272
方波信号	PI	0.0010	0.0025	1.9167
	SMC	−0.0004	0.0005	1.8934
	NFTSMC^[24]	0.0004	0.0038	1.7305
	本文	0.0006	0.0001	1.7242
三角信号	PI	0.0002	0.0507	0.0475
	SMC	0.0122	0.0264	0.0125
	NFTSMC^[24]	0.0336	0.0748	0.0340
	本文	0.0021	0.0005	0.0022

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