基于滑模电流观测器的高性能无速度传感器PMSM控制.doc

摘要 永磁同步电动机无速度传感器控制系统是一个带有不确定性和外加干扰的系统，本文根据滑模变结构控制理论，采用等效控制加切换控制的控制律，实现了对不确定性和外加干扰的鲁棒控制。同时，为了消除滑动模态的抖振对系统的不利影响，采用准滑动模态的饱和函数代替传统的符号函数，并利用指数趋近律进一步削弱了抖振并保证了系统的快速性。仿真和实验充分证明，该控制方法具有良好的动静态性能。 ?The Sensorless permanent magnet synchronous motor(PMSM) control system is a system with uncertainty and external disturbance. This paper realized Robust control of the uncertainty and external interference by use of the equivalent control matched with switching control according to sliding mode control theory. Meanwhile, in order to eliminate the adverse effect on the system by the chattering of the sliding mode, this paper adopts the saturation function of quasi-sliding mode instead of traditional sign function, and exponential reaching law to further weaken the chattering and to ensure that the system fast. Simulation and experiment proved that the control method has good dynamic and static performance. The sensorless control system of permanent magnet synchronous motor is a system with an uncertainty and external disturbance. This paper uses the control law of equivalent control matched with switching control according to the theory of variable structure with sliding mode control, and achieves a robust control of the uncertainty and external disturbance. At the same time, in order to eliminate the adverse effect caused by the chattering of the sliding mode, paper uses the saturation function of the quasi-sliding mode instead of the traditional sign function, and weakens the chattering with a further move by using the exponentially approaching rule which also ensures the rapidity of the system. Simulations and experiments give some sufficient proofs that this control technology has a nicer dynamic and static performance. 引言 高性能永磁同步电机矢量控制系统中，为通过坐标变换实现转子磁场定向，必须随时获得转子位置信息，通常需要在电机轴上安装传感器(如编码器、感应同步器、测速发电机),以提供电机控制所需要的转子位置和速度信号。但这些传感器增加了系统成本,增大了电机的尺寸和转动惯量,降低了系统可靠性,从而限制了传动系统在恶劣环境下的应用。正是由于这些原因，使无速度传感器的永磁同步电机控制成为电机控制研究领域的一个研究热点并已经取得了一定的成果。滑模变结构控制是一种解决非线性系统问题的综合方法,由于滑动模态可以进行设计且与对象参数及扰动无关，这就