【摘要】 为了提高永磁同步伺服电机的鲁棒性和位置控制精度,文章设计了一种结合了位置环和速度环的复合滑模控制方法,并将之用于具有未知扰动的永磁同步伺服驱动系统。该复合滑模控制器具有位置控制模式和速度控制模式,可以根据运行状况自适应地调整控制方式,从而提高伺服控制的位置精度和响应速度;此外,引入一种非线性观测器用于估计未知的外部扰动并用于补偿控制,其不但可以提高系统的抗干扰能力,还可以减小因滑模控制带来的系统抖振现象。该方法的有效性和鲁棒性在一台750 W的小功率PMSM系统上得到了验证。更多还原

【Abstract】 In order to improve the robustness and position control accuracy of a servo permanent magnet synchronous motor(PMSM), it designed a composite sliding mode control method combining position control loop and speed control loop, which is used for permanent magnet synchronous servo drive system with unknown disturbance. The composite sliding mode controller has a position control mode and a speed control mode which can adaptively adjust the control mode according to the operating conditions to improve the positional accuracy and the responding speed of the servo control. In addition, a nonlinear observer is introduced to estimate the unknown external disturbance and used for compensation control, which not only improves the anti-interference ability of the system, but also reduces the system chattering caused by the sliding mode control. The effectiveness and robustness of the proposed method is verified by a 750 W lowpower PMSM system.更多还原