Adaptive nonsingular terminal sliding model control method for permanent magnet synchronous motors on basis of disturbance observers

Abstract

The invention relates to an adaptive nonsingular terminal sliding model control method for permanent magnet synchronous motors on the basis of disturbance observers. An adaptive nonsingular terminal sliding model controller is introduced into speed loops of vector control systems for the permanent magnet synchronous motors. The adaptive nonsingular terminal sliding model control method is characterized in that an adaptive variable-speed exponential approach law is proposed, first-order norms of state variables are introduced into the approach law, index approach speeds and constant approach speeds are adaptively adjusted according to the distances from the state variables to balance points, accordingly, the approach time can be shortened, and system buffeting can be weakened; the disturbance observers are designed for solving the problems of external disturbance of existing systems and load perturbation, and observation values are fed into designs of the sliding mode controllers. Rotational speeds can be quickly tracked when the systems are disturbed or load fluctuates, accordingly, overshoot and steady-state static difference of the systems can be reduced, and the robustness of the systems can be greatly enhanced.

Description

technical field [0001] The invention belongs to the field of permanent magnet synchronous motor control, and relates to a sliding mode control method based on a disturbance observer. Background technique [0002] The permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, PMSM) has many advantages such as small size, simple structure, high efficiency, etc., which makes it widely used in the fields of CNC machine tools, medical equipment, aerospace and other fields. Variable, nonlinear, and strongly coupled complex objects, when the system is affected by factors such as internal parameters or external disturbances, conventional PI control cannot meet the requirements of high-performance control, and adaptive control, intelligent control, etc. are difficult to control due to complex algorithms. applied in practical engineering. [0003] Sliding mode variable structure control is a kind of nonlinear control. It adopts the control switching law, and through swit...

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of slow response, system chattering, and poor anti-interference ability of the permanent magnet synchronous motor control system in the prior art, and propose an adaptive non-singular terminal sliding mode control method based on a disturbance observer

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