一种改进型自适应滑模观测器的PMSM控制系统

Control System of Permanent Magnet Synchronous Motor with Improved Adaptive Sliding Mode Observer

摘要: 为了改善传统滑模观测器(SMO)在无感永磁同步电机(PMSM)中转速和转子位置跟踪精度不高的问题，重新设计了一种改进型自适应滑模观测器。采用饱和阈值函数sigmoid代替传统设计中的sign函数；在边界层外引入削弱型积分，用反电动势自适应估计环节来代替低通滤波，提高系统的鲁棒性和反电动势的估算精度；再通过锁相环(PLL)技术来降低估算误差，经过Lyapunov函数来验证算法的稳定性。最后，基于31 W的PMSM实验平台进行算法验证对比出优越性。结果表明，改进型自适应滑模观测器能够实现PMSM的高精度控制同时能达到稳定性要求。

Abstract: To improve the low tracking accuracy of the traditional sliding mode observer (SMO) in non-induc- tive permanent magnet synchronous motor (PMSM), an improved adaptive sliding mode observer (SMO) was redesigned. The saturation threshold function is used instead of the traditional design function. To improve the robustness of the system and the estimation accuracy of the back electromotive force, a weakening integral was introduced outside the boundary layer, and the low- pass filtering was replaced by an adaptive estimation link of the back electromotive force. Then, the phase locked loop (PLL) technology is used to reduce the estimation error, and the stability of the algorithm is verified by the function. Finally, the algorithm based on 31 W PMSM experimental platform is verified and compared. The results show that the improved adaptive sliding mode observer can achieve high precision control of PMSM and meet the stability requirements.