摘要
针对传统滑模观测器算法在转子位置估算时存在系统抖振大、观测精度低、动态响应速度慢等问题,提出了一种新型自适应滑模观测器算法。采用零点连续的sigmoid函数代替符号函数,减小系统在滑模态高频切换产生的抖振;根据反电动势和转子转速的关系设计自适应滑模增益,在提高系统动态响应速度的同时进一步抑制系统抖振;将反电动势观测误差引入转子位置的估测环节,设计反电动势自适应律以提高系统的观测精度,并构建Lyapunov方程证明观测器算法的稳定性;最后,通过搭建MATLAB仿真平台和实物平台分别对提出的新型滑模观测器算法进行验证。实验表明,该算法在抑制系统抖阵和提高系统观测精度、动态响应速度及鲁棒性等方面有良好的效果。
The traditional sliding mode observer algorithm has some problems in rotor position estimation,such as large system chattering,low observation accuracy,slow dynamic response speed and so on.To solve these problems,a new adaptive sliding mode observer algorithm is proposed in this paper.The sigmoid function with continuous zero point is used to replace the sign function to reduce the chattering caused by the high-frequency switching of sliding mode;According to the relationship between the back EMF and the rotor speed,the adaptive sliding mode gain is designed to improve the dynamic response speed of the system and further suppress the chattering of the system;The observation error of back EMF is introduced into the estimation of rotor position,and the adaptive law of back EMF is designed to improve the observation accuracy of the system,and the Lyapunov equation is constructed to prove the stability of the observer algorithm;Finally,the proposed new sliding mode observer algorithm is verified by building MATLAB simulation platform and physical platform respectively.The results show that the algorithm has good effects in suppressing system chattering and improving the observation accuracy,dynamic response speed and robustness of the system.
作者
程亚楠
刁俊
苏子华
魏瑞丽
隋栋
CHENG Ya-nan;DIAO Jun;SU Zi-hua;WEI Rui-li;SUI Dong(The Second Research Institute of China Aerospace Science and Industry Corporation,Beijing 100039,China;Beijing Aerospace Changfeng Co.,Ltd.,Beijing 100039,China;不详)
出处
《组合机床与自动化加工技术》
北大核心
2022年第12期89-93,98,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金青年基金(61702026)。
