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Smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor anti-reset windup based on relative order

A permanent magnet synchronous motor, non-singular terminal technology, used in motor generator control, electronic commutation motor control, control system and other directions, can solve the current and torque harmonic increase, motor heating, system speed response deterioration, etc. problem, to achieve the effect of continuous and smooth control signal, solving chattering problem, and fast response

Active Publication Date: 2016-09-21
严格集团股份有限公司
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Problems solved by technology

However, the prominent control characteristic of sliding mode control is "switching". Although the ideal infinitely fast switching frequency guarantees its robust characteristics, due to the limited switching frequency of the actual switching device, the detection accuracy of the sensor, and the processor's Sampling time and other specific engineering implementation conditions will induce chattering problems and then destroy the control continuity of the system and the smoothness of the output signal. The increase of harmonics, the wear of mechanical parts, and the heating of motors have become prominent problems restricting its practical engineering application
[0004] (2) The limited output capacity of the existing inverter makes the permanent magnet synchronous motor control system generally have the Windup problem
It can be seen that due to the limiting effect, the actual output of the speed controller with computed output i q * not equal, that is This is a typical Windup problem, which will lead to poor system speed response, large overshoot when the given speed command changes in a wide range, and even destroy the stability of the system

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  • Smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor anti-reset windup based on relative order
  • Smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor anti-reset windup based on relative order
  • Smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor anti-reset windup based on relative order

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specific Embodiment approach 1

[0030] Specific implementation mode one: combine figure 1 , the anti-resetWindup smooth non-singular terminal sliding mode control method based on the relative order of the permanent magnet synchronous motor of the present embodiment, it is realized according to the following steps:

[0031] 1. Permanent magnet synchronous motor speed vector control system:

[0032] The mathematical model of the system in the dq synchronous rotating coordinate system can be expressed as:

[0033] i · d = - R s L i d + pωi ...

specific Embodiment approach 2

[0044] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is: combining figure 2 , it is noted that since the smooth non-singular terminal sliding mode control method proposed in the present invention contains integral terms, the Windup problem described by Eq.

[0045] Learn from the integral elimination idea of ​​the Anti-reset Windup method in PI control, introduce an adaptive anti-saturation mechanism, superimpose it into the speed tracking deviation system, and use the switching item i of the smooth non-singular terminal sliding mode speed controller qn Adaptively eliminate the windup problem, specifically:

[0046] (1) Suppose the speed given signal ω * Smooth enough, speed tracking deviation e ω = ω * -ω and speed controller output signal deviation The variation is bounded, where, η 1 ′>0 is the feedback compensation coefficient. According to formula (1), the rotational speed tracking deviation s...

specific Embodiment approach 3

[0084] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the smooth non-singular terminal sliding mode quadrature axis current controller in the step 3 is specifically:

[0085] Define the bias variable e q = i q * -i q , from formula (1), the quadrature axis current deviation system can be obtained as

[0086] e · q = i · q * - i · q = i · q * + pωi d + R s L i q + pψ f ...

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Abstract

The invention relates to an anti-reset Windup smooth non-singular terminal sliding mode control method for a permanent magnet synchronous motor based on a relative order. The present invention is to solve the problem of chattering induced by the high-frequency switching control behavior of the traditional sliding mode control method, causing the control system of the permanent magnet synchronous motor to destroy the control continuity of the system and the smoothness of the output signal, as well as the limited output of the existing inverter The capacity makes the permanent magnet synchronous motor control system generally have the Windup problem. 1. Permanent magnet synchronous motor speed vector control system; 2. Design Anti-reset Windup smooth non-singular terminal sliding mode speed controller; 3. Design smooth non-singular terminal sliding mode quadrature current controller; 4. Design smooth non-singular terminal Sliding mode direct axis current controller. The invention is applied to the field of robust control of permanent magnet synchronous motors.

Description

technical field [0001] The invention relates to a permanent magnet synchronous motor Anti-reset Windup smooth non-singular terminal sliding mode control method. Background technique [0002] (1) The high-frequency switching control behavior of the traditional sliding mode control method causes chattering problems in the permanent magnet synchronous motor control system, which destroys the control continuity of the system and the smoothness of the output signal. [0003] At present, the traditional linear sliding mode control method and terminal sliding mode control method are most widely used in permanent magnet synchronous motor control systems, which are more robust and have excellent performance indicators than the PI control method commonly used in engineering. However, the prominent control characteristic of sliding mode control is "switching". Although the ideal infinitely fast switching frequency guarantees its robust characteristics, due to the limited switching freq...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/00H02P21/05
Inventor 王艳敏曹雨晴夏红伟申立群
Owner 严格集团股份有限公司
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