基于全局非线性积分滑模的永磁交流伺服系统研究

doi:10.19595/j.cnki.1000-6753.tces.170951

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摘要永磁交流伺服系统是一个强耦合、多变量、非线性的系统,滑模控制已经逐步应用于交流伺服系统中。针对滑模控制中存在的收敛速度慢,未达到滑模面前鲁棒性差等缺点,结合趋近律设计了一种具有全局鲁棒特性的以非线性积分滑模面为基础的转速控制器。所设计的控制器因为包含了非线性积分函数,使得在尽量小的超调量下增加了系统的响应速度,观测器的引入使系统具备了一定的抗扰动能力。通过仿真证明了所设计控制器的正确性和有效性,实验结果进一步证实该控制器使系统具有较好的伺服性能。

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	张立伟
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关键词 ：永磁交流伺服系统, 非线性积分, 全程滑模, 转速控制器

Abstract：Permanent magnet synchronous motor servo system is a typical strong coupling, multivariable and nonlinear system. Sliding mode control has been gradually used in the servo system, but it has the disadvantages of low convergence rate and poor robustness before the system reaching the sliding surface. In combination with the reaching law, this paper proposed a speed controller with global robustness based on the nonlinear integrator sliding surface. Because of the inclusion of nonlinear integrator, the controller can increase the response speed of the system with overshoot as small as possible. Moreover, the system has a strong anti-interference ability for the introduction of load torque observer. System simulation and experimental results show the system has better servo performance because of the speed controller.

Key words： Permanent magnet synchronous motor servo system nonlinear integrator total sliding mode control speed controller

收稿日期: 2017-07-05 出版日期: 2018-09-03

PACS:

TM315

基金资助:国家重点研发计划（2016YFB1200604-B22）和中央高校基本科研业务费（2015JBM090）资助项目

通讯作者: 张立伟男,1977年生,副教授,博士生导师,研究方向为电机及其控制。E-mail: lwzhang@bjtu.edu.cn

作者简介: 魏维男,1993年生,硕士研究生,研究方向为伺服电机系统及其控制。E-mail: 15121484@bjtu.edu.cn

引用本文:

张立伟, 魏维, 张超, 刘辉, 修三木. 基于全局非线性积分滑模的永磁交流伺服系统研究[J]. 电工技术学报, 2018, 33(16): 3917-3924. Zhang Liwei, Wei Wei, Zhang Chao, Liu Hui, Xiu Sanmu. Study on Permanent Magnet Synchronous Motor Servo System Based on Total Sliding Mode Control Approach with Nonlinear Integrator. Transactions of China Electrotechnical Society, 2018, 33(16): 3917-3924.

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