摘要
为提高永磁同步电机(PMSM)速度伺服系统的控制性能,增强系统的抗惯量扰动能力,提出一种自适应滑模变结构速度控制方法。在PMSM双闭环调速系统中采用了滑模控制(SMC)的速度控制方法,并在SMC中引入积分滑模面以避免控制量中对加速度信号的要求,减小系统的稳态误差;此外,采用连续函数sigmoid(s)代替传统趋近律中的符号函数sgn(s),进一步提高系统的动态品质。针对负载变化导致PMSM控制系统转动惯量不同的问题,依据离散模型参考自适应系统(MRAS)理论对转动惯量进行实时估计,并将惯量辨识值更新到SMC控制中,实现自适应SMC速度控制。实验结果表明,所提出的自适应SMC控制方法的速度响应较快,相比常规SMC控制,速度响应时间从85 ms减少到54 ms,并且对惯量扰动具有较强的鲁棒性。该方法适用于一些特定的时变惯量的伺服控制场合,如印刷机械、纺织机械、电缆设备等。
An adaptive speed control method with sliding mode variable structure is proposed to improve the control performance of permanent magnet synchronous motor(PMSM)speed servo system and to enhance its anti-inertia disturbance capability.A speed control method of sliding mode control(SMC)is adopted in the PMSM double closed-loop control system,and an integral sliding mode surface is introduced into SMC to avoid the requirement of acceleration signal in the control and to reduce the steady state error of the system.In addition,the sigmoid function is used to replace the traditional sign function in the reaching law to further improve the dynamic quality of the system.In order to solve the problem of rotational inertia variation caused by load change in PMSM control system,the rotational inertia is estimated in real time based on the theory of discrete model reference adaptive system(MRAS),and the inertia identification value is updated to the SMC to realize adaptive SMC speed control.Experimental results show that the proposed adaptive SMC control method has a faster speed response,and the speed response time is reduced from 85 ms to 54 ms compared with the conventional SMC control.Moreover,it has stronger robustness to inertia disturbances.This method is suitable for servo control of some special time-varying inertia occasions,such as printing machinery,textile machinery,and cable equipment.
作者
宋哲
杨军
梅雪松
陶涛
许睦旬
SONG Zhe;YANG Jun;MEI Xuesong;TAO Tao;XU Muxun(Shaanxi Key Laboratory of Intelligent Robotics,Xi’an Jiaotong Unerisity,Xi’an 710049,China;State Key Laboratory for Manufacturing Systems Engineering,Xi’an Jiaotong University,Xi’an 710049,China;State Key Lab of Digital Manufacturing Equipment&Technology,Huazhong University of Science and Technology,Wuhan 430074,China)
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2020年第12期14-21,共8页
Journal of Xi'an Jiaotong University
基金
国家重点研发计划重点专项资助项目(2016YFB1102503)
陕西省科技统筹创新工程计划资助项目(2015KTZDGY-02-01)。
关键词
永磁同步电机
惯量辨识
自适应
滑模控制
permanent magnet synchronous motor
inertia identification
adaptive
sliding mode control
