基于RESO和复合滑模的永磁同步电动机调速控制

doi:10.3969/j.issn.1671-7775.2023.03.012

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摘要针对永磁同步电动机存在建模误差、参数和负载变化等内外干扰问题，提出一种基于降阶扩张状态观测器的复合滑模调速策略.首先，基于永磁同步电动机的状态空间模型，考虑到光电编码器可测量永磁同步电动机的转速信号，只需要设计观测器对系统的总干扰进行估计和消除，并分析降阶扩张状态观测器的性能；接着，引入滑模控制，设计滑模面和控制律，提高系统的抗干扰能力，并用Lyapunov方法证明控制器的稳定性；最后，基于DSP芯片TMS320F28335为控制核心和MATLAB环境下的控制模块，搭建半实物调速控制系统平台，并与传统PI控制和线性自抗扰控制进行对比验证.结果表明，所提出的复合滑模控制策略相较于传统方法在加载时转速变化量减少了60%以上，具有优越的抗干扰和调速性能.

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	李娟
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	王书旺
	哀薇

关键词 ：永磁同步电动机, 速度环控制, 降阶扩张状态观测器, 滑模控制, 自抗扰控制, 干扰抑制, 系统实现

Abstract：To solve the internal and external disturbances in permanent magnet synchronous motors (PMSM) with parameter variations, modeling error and load uncertainties, a reducedorder extended state observer (RESO) based on composite sliding mode control strategy was proposed. Based on the state space model, a novel RESO was designed to estimate and eliminate the internal and external disturbances with considering the speed signal of PMSM measured by the encoder, and the performance for the RESO was analyzed. The composite sliding mode control method was introduced to design the sliding mode surface and control law for improving the antiance ability of the whole control system, and the stability of the control strategy was analyzed by Lyapunov method. The hardwareintheloop speed control platform of PMSM was built based on the control core of DSP chip TMS320F28335 and the MATLAB control module. The proposed method was simulated and compared with traditional PI and linear active disturbance rejection control methods. The results show that the speed variation of the system with loading can be reduced more than 60% in contrast to traditional system with excellent performance of antidisturbance and regulation speed.

Key words： permanent magnet synchronous motor speed loop control reducedorder extended state observer sliding mode control active disturbance rejection control disturbance attenuation system implementation

基金资助:国家自然科学基金资助项目（61903322，61773335）；机械结构力学与控制国家重点实验室项目（MCMSE0520G01）；江苏省六大人才高峰计划项目（KTHY2018038）

作者简介: 李娟（1983—），女，山东临沂人，博士，副教授（juanli@yzu.edu.cn），主要从事高精度伺服控制研究. 李生权（1982—），男，湖南常德人，博士，教授（通信作者，sqli@yzu.edu.cn），主要从事复杂机电系统先进控制研究.

引用本文:

李娟，冯波，李生权，王书旺，哀薇. 基于RESO和复合滑模的永磁同步电动机调速控制[J]. 江苏大学学报（自然科学版）, 2023, 44(3): 330-336. LI Juan, FENG Bo, LI Shengquan, WANG Shuwang, AI Wei. Speed control of permanent magnet synchronous motor based on RESO and composite sliding mode[J]. Journal of Jiangsu University(Natural Science Eidtion) , 2023, 44(3): 330-336.

链接本文:

http://zzs.ujs.edu.cn/xbzkb/CN/10.3969/j.issn.1671-7775.2023.03.012 或 http://zzs.ujs.edu.cn/xbzkb/CN/Y2023/V44/I3/330

［1］	LI S Q, ZHU C W, MAO Q B, et al. Active disturbance rejection vibration control for an allclamped piezoelectric plate with delay[J]. Control Engineering Practice,doi: 10.1016/j.conengprac.2020.104719.
[2]	梅春草,许丽娟.环形电机耦合网络混沌行为的抑制控制[J].吉林大学学报(理学版),2022,60(4):970-976.
	MEI C C, XU L J. Suppression control of chaotic behaviors in ring motor coupling networks[J]. Journal of Jilin University (Science Edition), 2022,60(4):970-976. (in Chinese)
［3］	SU J Y, CHEN W H, YANG J. On relationship between timedomain and frequencydomain disturbance observers and its applications[J]. Journal of Dynamic Systems, Measurement, and Control,doi: 10.1115/1.4033631.
[4]	CHEN W H, YANG J, ZHAO Z H. Robust control of uncertain nonlinear systems: a nonlinear DOBC approach[J]. Journal of Dynamic Systems, Measurement, and Control, doi: 10.1115/1.4033018.
［5］	LI S Q, CAO M Y, LI J, et al.Sensorlessbased active disturbance rejection control for a wind energy conversion system with permanent magnet synchronous generator[J]. IEEE Access, doi: 10.1109/ACCESS.2019.2938199.
［6］	李志鹏,那少聃.改进型ADRC的感应电机定子磁场定向矢量控制[J].重庆邮电大学学报(自然科学版),2020,32(4):604-610.
	LI Z P, NA S D. Research on stator field oriented vector control of induction motor based on improved ADRC[J]. Journal of Chongqing University of Posts and Telecommunications (Natural Science Edition), 2020,32(4):604-610. (in Chinese)
[7]	郭一军.具有输入饱和约束的永磁同步电机伺服系统鲁棒有限时间控制[J].重庆邮电大学学报(自然科学版),2019,31(5):737-742.
	GUO Y J. Robust finitetime control of PMSM servo system with input saturation constraint[J]. Journal of Chongqing University of Posts and Telecommunications (Natural Science Edition), 2019,31(5):737-742. (in Chinese)
［8］	LIU C Q, LUO G Z, DUAN X L, et al. Adaptive LADRCbased disturbance rejection method for electromechanical servo system[J].IEEE Transactions on Industry Applications, 2020,56(1):876-889.
［9］	LIU C Q, LUO G Z, CHEN Z, et al. Measurement delay compensated LADRC based current controller design for PMSM drives with a simple parameter tuning method[J]. ISA Transactions, 2020, 101:482-492.
［10］	LU W Q, TANG B, JI K H, et al. A new load adaptive identification method based on an improved sliding mode observer for PMSM position servo system[J]. IEEE Transactions on Power Electronics, 2021, 36(3):3211-3223.
［11］	QU L Z, QIAO W, QU L Y. Activedisturbancerejectionbased slidingmode current control for permanentmagnet synchronous motors[J]. IEEE Transactions on Power Electronics, 2020,36(1): 751-760.
［12］	YU J B, WU Y Q. Global robust tracking control for a class of cascaded nonlinear systems using a reducedorder extended state observer[J]. Nonlinear Dynamics, 2018, 94(2):1277-1289.
［1］	LI S Q, ZHU C W, MAO Q B, et al. Active disturbance rejection vibration control for an allclamped piezoelectric plate with delay[J]. Control Engineering Practice,doi: 10.1016/j.conengprac.2020.104719.
[2]	梅春草,许丽娟.环形电机耦合网络混沌行为的抑制控制[J].吉林大学学报(理学版),2022,60(4):970-976.
	MEI C C, XU L J. Suppression control of chaotic behaviors in ring motor coupling networks[J]. Journal of Jilin University (Science Edition), 2022,60(4):970-976. (in Chinese)
［3］	SU J Y, CHEN W H, YANG J. On relationship between timedomain and frequencydomain disturbance observers and its applications[J]. Journal of Dynamic Systems, Measurement, and Control,doi: 10.1115/1.4033631.
[4]	CHEN W H, YANG J, ZHAO Z H. Robust control of uncertain nonlinear systems: a nonlinear DOBC approach[J]. Journal of Dynamic Systems, Measurement, and Control, doi: 10.1115/1.4033018.
［5］	LI S Q, CAO M Y, LI J, et al.Sensorlessbased active disturbance rejection control for a wind energy conversion system with permanent magnet synchronous generator[J]. IEEE Access, doi: 10.1109/ACCESS.2019.2938199.
［6］	李志鹏,那少聃.改进型ADRC的感应电机定子磁场定向矢量控制[J].重庆邮电大学学报(自然科学版),2020,32(4):604-610.
	LI Z P, NA S D. Research on stator field oriented vector control of induction motor based on improved ADRC[J]. Journal of Chongqing University of Posts and Telecommunications (Natural Science Edition), 2020,32(4):604-610. (in Chinese)
[7]	郭一军.具有输入饱和约束的永磁同步电机伺服系统鲁棒有限时间控制[J].重庆邮电大学学报(自然科学版),2019,31(5):737-742.
	GUO Y J. Robust finitetime control of PMSM servo system with input saturation constraint[J]. Journal of Chongqing University of Posts and Telecommunications (Natural Science Edition), 2019,31(5):737-742. (in Chinese)
［8］	LIU C Q, LUO G Z, DUAN X L, et al. Adaptive LADRCbased disturbance rejection method for electromechanical servo system[J].IEEE Transactions on Industry Applications, 2020,56(1):876-889.
［9］	LIU C Q, LUO G Z, CHEN Z, et al. Measurement delay compensated LADRC based current controller design for PMSM drives with a simple parameter tuning method[J]. ISA Transactions, 2020, 101:482-492.
［10］	LU W Q, TANG B, JI K H, et al. A new load adaptive identification method based on an improved sliding mode observer for PMSM position servo system[J]. IEEE Transactions on Power Electronics, 2021, 36(3):3211-3223.
［11］	QU L Z, QIAO W, QU L Y. Activedisturbancerejectionbased slidingmode current control for permanentmagnet synchronous motors[J]. IEEE Transactions on Power Electronics, 2020,36(1): 751-760.
［12］	YU J B, WU Y Q. Global robust tracking control for a class of cascaded nonlinear systems using a reducedorder extended state observer[J]. Nonlinear Dynamics, 2018, 94(2):1277-1289.