Control method of approximately-discrete fate terminal sliding mode of PMSM speed regulating system

Abstract

The invention provides a control method of an approximately-discrete fate terminal sliding mode of a PMSM speed regulating system. The control method comprises the steps of firstly receiving the main command of angular rate, extracting the motor angular velocity feedback, and calculating the first-order derivative of speed error; secondly calculating the fast terminal sliding mode surface of a speed ring and the electric current loop command of a speed regulating system; thirdly calculating the electric current loop controlled variable by means of angular acceleration feedback, collecting line current and calculating the A-axis and D-axis current of PMSM under dq coordinate and the first-order variable quantity of the error, and calculating the fast terminal sliding mode surface of the dq coordinate electric current loop; lastly completing motor control by using the calculated electric current loop dq coordinate voltage controlled variable as the input of adverse park transformation of PMSM. The invention is advantageous in that the control robustness of the servo-actuated speed regulating system is improved, the control method is not sensitive to the change of the motor parametric and external moment interference, and the system's adaptive capacity to environment is enhanced; the speed ring and the electric current loop control item both adopt integration to conduct smoothing on sliding mode variable structure switching phase, and the control chattering of conventional linear sliding mode can be prevented.

Description

technical field [0001] The invention belongs to the field of artillery follow-up systems, and mainly relates to a robust control method insensitive to parameter changes and load disturbances of a follow-up drive speed regulation system requiring precise tracking. Background technique [0002] The follow-up system of the artillery, especially the follow-up system of the anti-aircraft gun requires the follow-up drive speed control system to have the ability of quick response to commands and the ability of precise tracking of commands. Because the PI controller control strategy is simple in structure and easy to adjust, the current loop and speed loop controllers of traditional drive speed control systems often use PI controllers. The current loop often adopts the optimal mode principle in the time domain, and the amplitude margin and phase margin requirements in the frequency domain to design PI control parameters. The speed loop also often adopts the ideal medium bandwidth pr...

AI Technical Summary

Problems solved by technology

The stability analysis of this type of sliding mode control system is simple and convenient, and the parameter design is relatively easy. The sliding mode coefficients can be designed using the optimal control method, pole allocation method, etc., but the convergence speed of the linear sliding mode in the nonlinear dynamic system is not enough. , the system cannot converge to the equilibrium point within a limited time, and it is difficult to exert the robustness to suppress uncertainty. Therefore, the control ability is obviously insufficient in the application of complex nonlinear systems, which limits the application in the servo drive speed regulation system. Applications

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