ZHAO Feng， LUO Wen， GAO Fengyang， YU Jiale
（School of Automation and Electrical Engineering， Lanzhou Jiaotong University， Lanzhou 730070， China）
Abstract： Aimed at the problems of large torque ripple, obvious chattering and poor estimation accuracy of back-EMFs in traditional permanent magnet synchronous motor (PMSM) control system with sliding mode observer (SMO), an improved control strategy for PMSM based on a fuzzy sliding mode control (FSMC) and a two-stage filter sliding mode observer (TFSMO) is proposed. Firstly, a novel reaching law (NRL) used in the speed loop based on hyperbolic sine function is studied, and fuzzy control ideal is shown to achieve the self-turning of the parameter for the reaching law, thus a fuzzy integral sliding mode controller based on the novel reaching law is designed in speed loop. Then the suppression effect upon chattering caused by the novel reaching law is analyzed strictly by discrete equation. Secondly, in order to restrain the high frequency components and measurement noise in back-EMFs, a two-stage filter structure based on a variable cut-off frequency low-pass filter (VCF-LPF) and a modified back-EMF observer (MBO) is conceived, and the rotor position is compensated reasonably. As a result, a TFSMO is designed. The stability of the proposed control strategy is proved by Lyapunov Criterion. The simulation and experiment results show that, compared with traditional SMO, the controller suggested above can obtain very nice system respond when the motor starts and is subjected to external disturbances, and effectively improve the problems about torque ripple, chattering and the estimation accuracy of back-EMF.
Key words： permanent magnet synchronous motor (PMSM); novel reaching law (NRL); fuzzy sliding mode control (FSMC); two-stage filter sliding mode observer (TFSMO)
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基于模糊滑模控制和两级滤波滑模观测器的PMSM改进控制策略
赵峰， 罗雯， 高锋阳， 余佳乐
（兰州交通大学 自动化与电气工程学院， 甘肃 兰州 730070）
摘要:针对传统带有滑模观测器的永磁同步电机控制系统中转矩脉动大、 抖振明显、 反电动势估计精度差等问题， 提出基于模糊滑模控制和两级滤波滑模观测器的PMSM改进控制策略。 首先， 在速度环提出基于双曲正弦函数的新型趋近率， 结合模糊控制思想对趋近率参数实现自整定， 设计了一种基于新型趋近率的模糊积分滑模速度环控制器， 并且对新型趋近率的抖振抑制效果给出严格分析。 其次， 提出基于变截止频率低通滤波器和修正反电动势观测器的两级滤波结构， 抑制反电动势中的高频分量和测量噪声， 并对转子位置进行合理补偿， 继而设计了两级滤波滑模观测器； 通过Lyapunov判据对本文提出控制策略的稳定性进行了推导证明。 仿真和实验结果表明, 与传统滑模观测器相比， 改进的控制器使电机在启动和受到外部扰动时系统响应良好， 有效改善了转矩脉动、 抖振、 反电动势的估计精度等问题。
关键词:永磁同步电机； 新型趋近率； 模糊滑模控制； 两级滤波滑模观测器
引用格式：ZHAO Feng, LUO Wen, GAO Fengyang, et al. Improved control strategy for PMSM based on fuzzy sliding mode control and sliding-mode observer. Journal of Measurement Science and Instrumentation, 2021, 12（4）： 443-441. DOI： 10.3969／j.issn.1674-8042.2021.04.007
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