【摘要】 为了提高永磁同步电机驱动系统速度控制器的跟踪性能和鲁棒性，提出了一种基于超螺旋扩张状态观测器的非奇异快速终端滑模复合控制器。首先，采用一种基于新型变指数趋近律的非奇异快速终端滑模控制算法设计速度控制器，该趋近律在常规指数趋近律中引入系统状态变量，加快系统收敛到滑模面的速度，同时保持较小的抖振；其次，提出了一种超螺旋扩张状态观测器来观测系统的扰动，并补偿给速度控制器，提高了速度控制系统的鲁棒性；最后，通过仿真和实验证明所提方法的有效性。更多还原

【Abstract】 In order to improve the tracking performance and robustness of the permanent magnet synchronous motor(PMSM) speed regulation system, an improved non-singular fast terminal sliding mode compound controller based on a super-twisting extended state observer(INFTSM+STESO) is proposed.Firstly, an INFTSM speed controller based on a modified variable exponential reaching law is proposed in this paper.It includes the system state variable in the conventional exponential reaching law, which not only reduces the time for the system state to reach the sliding mode surface but also weakens chattering.Secondly, to improve the disturbance rejection ability of the system, a super-twisting extended state observer(STESO) is designed to estimate the total disturbance of the system.The simulation and experimental results indicate that this method has the advantages of fast convergence, small chattering, and strong robustness.更多还原