基于自适应增益扰动观测器的快速变转速滑膜PMSM速度控制

Speed Control for PMSM with Fast Variable-Speed Sliding Mode Control via Adaptive Gain Disturbance Observer

摘要: 滑模控制虽然因其强大的鲁棒性和对系统参数变化及外部扰动的有效抑制能力而受到广泛关注，但滑模控制的鲁棒性只在滑模面上表现出最佳效果，在系统状态未达到滑模面时，控制器的鲁棒性较弱。为了追求更高的快速性，必然带来超调量的产生，所以需要研究如何同时实现快速性和无超调。由此，本文提出了一种快速变速趋近律(Fast Variable Speed Reaching Law, FVSRL)的设计，以提高滑模控制的性能。所构造的趋近率基于变速项、指数项和快速项，保证了快速收敛且无超调。同时，为了减少扰动带来的影响，在系统中增加了一个自适应增益扰动观测器进行前馈补偿。最后，将本文提出的新型趋近律与另两种作比较。实验结果表明，FVSRL的收敛速度更快、抖振更小、抗扰性能更优秀。

Abstract: Although sliding mode control (SMC) has garnered significant attention due to its strong robustness and its effective suppression of system parameter variations and external disturbances, its robustness is optimal only on the sliding surface. When the system state has not yet reached the sliding surface, the controller’s robustness is relatively weak. The pursuit of higher speed inevitably leads to the generation of overshoot, thus necessitating research into how to achieve both rapidity and zero overshoot simultaneously. To this end, this paper proposes the design of a Fast Variable Speed Reaching Law (FVSRL) to enhance the performance of sliding mode control. The constructed reaching law is based on variable speed terms, exponential terms, and fast terms, ensuring fast convergence without overshoot. At the same time, to mitigate the impact of disturbances, an adaptive gain disturbance observer is introduced into the system for feedforward compensation. Finally, the new reaching law proposed in this paper is compared with two other approaches. Experimental results show that FVSRL achieves faster convergence, reduced chattering, and superior disturbance rejection performance.