| Citation: | LING H，DU Q J，PANG H，et al. Instantaneous torque control of SRM based on improved terminal SMC and SMO[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（11）：3145-3155 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0021
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An instantaneous torque control method for switched reluctance motors (SRM) based on improved terminal sliding mode controller (SMC) and sliding mode observer (SMO) with variable speed reaching law was proposed to address the issues of slow response speed of conventional terminal sliding mode control system of SRM and system chattering of traditional sliding mode observer.Firstly, an improved nonsingular fast terminal sliding mode surface with fast convergence of motor speed error and a variable speed power reaching law with adaptive adjustment of reaching law speed were designed. The continuous nonsingular control law was obtained by using the equivalent control method. The stability and finite-time convergence of the system were proved by the Lyapunov function. Secondly, a sliding mode observer with variable speed reaching law was designed to realize sensorless control of SRM. In order to solve the chattering and convergence speed issues brought on by the fixed switching gain of the conventional sliding mode observer, the hyperbolic tangent function was employed as the switching function and the fast power reaching law was introduced as the reaching law of speed observation.The stability of the observer was proved by the Lyapunov function. Finally, the simulation and experiment verified the effectiveness of the proposed method. The results show that compared with the conventional terminal sliding mode control, the improved terminal sliding mode control system can realize the tracking of the desired speed in 0.07 s, the adjustment time is reduced by 0.04 s, and the speed fluctuation is reduced by 0.5 r/min when the system is stable, which has better response speed and stability. When the load suddenly increases, the system speed can be adjusted to a given value within 0.02 s, and the recovery time is reduced by 0.05 s, which has a better adjustment ability. The sliding mode observer with variable speed reaching law can realize the convergence of speed estimation error within 0.01 s, and the error fluctuation is maintained within 2 r/min, which can realize the accurate estimation of motor speed and rotor position.
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