基于DOB和反演时变滑模的PMSM位置跟踪
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西安石油大学陕西省油气井测控技术重点实验室 电子工程学院 陕西西安 710065

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TN98;TM341

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PMSM position tracking based on DOB and backstepping time-varying sliding mode
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    摘要:

    针对传统反演滑模位置伺服系统中位置跟踪误差较大,以及采用固定滑模面时系统动态响应速度和抖振抑制之间的矛盾,设计了一种基于扰动观测器和反演时变滑模的复合控制策略。首先在传统指数趋近律中引入状态变量并设计自适应律,提出一种新型趋近律,来提升系统的响应性能。为进一步提升系统在各个阶段的收敛速度,利用预测控制中遍历寻优思想,设计一种在线寻优的时变滑模面,并进行稳定性证明。最后设计非线性负载干扰观测器,对系统进行干扰估计与补偿。实验数据表明,本文所提复合控制策略与传统反演滑模控制相比,其稳态误差仅占传统方法的9/17,动态响应速度提升了30 ms,抗扰性能明显优越。

    Abstract:

    Aiming at the contradiction between the large position tracking error in the traditional backstepping sliding mode position servo system and the contradiction between the dynamic response and the chattering suppression when the fixed sliding mode surface is adopted, a composite control strategy based on disturbance observer and backstepping time-varying sliding mode is designed. Firstly, a state variable is introduced into the traditional exponential reaching law and an adaptive law is designed. A new variable exponential reaching law is proposed to improve the response performance of the system. In order to further improve the convergence speed of the system in each stage, a time-varying sliding mode surface with online optimization is designed by using the idea of ergodic optimization in predictive control, and the stability is proved. Finally, a nonlinear load disturbance observer is designed to estimate and compensate the disturbance of the system. The experimental data show that compared with the traditional backstepping sliding mode control, the steady-state error of the composite control strategy proposed in this paper only accounts for 9 / 17 of the traditional method, the dynamic response speed is improved by 30 ms, and the anti-interference performance is obviously superior.

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  • 收稿日期:2024-04-25
  • 最后修改日期:2024-07-09
  • 录用日期:2024-07-10
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