基于增强型扩张状态观测器的永磁同步电机低抖振高抗扰二阶终端滑模电流控制

doi:10.19595/j.cnki.1000-6753.tces.222359

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摘要

永磁同步电机电流滑模控制具有较好的参数鲁棒性,但控制精度受到滑模抖振的影响,且抖振抑制与抗扰性之间存在矛盾。为此,提出一种基于增强型扩张状态观测器的二阶终端滑模电流控制方案,有效提升电流控制性能。通过二阶终端滑模控制器的设计,将一阶积分快速终端滑模嵌套在二阶非奇异终端滑模面中,使得滑模抖振得到较好的抑制,同时实现电流无稳态误差的快速收敛。通过引入扩张状态观测器对扰动信号的集总估计与补偿,缓解了抖振与抗扰性之间的矛盾,进一步提升了电流精度。针对数字控制的延迟影响,设计了Smith预估器,提升了扰动补偿精度。最后,通过实验对本文所设计的电流控制方案进行了验证,并通过对比展示了方案的有效性。

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	东野亚兰
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关键词 ：永磁同步电机, 二阶终端滑模控制, 扩张状态观测器, Smith预估器

Abstract：

The current control which as the bottom control link of the interior permanent magnet synchronous motor (IPMSM) system plays a crucial role in the system performance. Sliding-mode current control (SMCC) of the IPMSM has the merit of high robustness to parameter mismatch. However, the control accuracy in practice is subjected to the sliding-mode chattering, and its suppression would negatively affect the anti-disturbance performance. In order to suppress the chattering problem of the traditional first-order SMCC system and ensure the excellent anti-disturbance performance of the system, an enhanced extended state observer (ESO) based second-order terminal sliding mode (TSM) control strategy is proposed to improve the final performance of the stator current control.
The structure of second-order TSM surface is that an integral fast TSM surface is nested into the second-order non-singular TSM surface. The coefficients of integral fast TSM surface are designed to guarantee the rapidity of stator current convergence, and the overshoot is not obvious. The integral term makes the system feedback state without steady-state current error. The second-order TSM control has superior chattering suppression ability which is the characteristics of high-order TSM control, and retains the robustness of switching function to parameter deviation. Through introduction of the EESO, the disturbance is estimated and compensated, which is beneficial to easing up the confliction between chattering suppression and anti-disturbance. As to the negative effects of the delay inherent to the digital control, a Smith predictor is designed to make compensation. Consequently, the disturbance is suppressed well.
Some Experiments based on a 18kW-IPMSM hardware platform are made to verify the current control strategy and demonstrate its merits compared with some other TSMC strategies. The voltage chattering amplitude of the second-order TSM control strategy is less than 20% of that of the traditional SMCC strategy at rated speed. The amplitude of current tracking error is affected by voltage chattering. The current tracking accuracy is higher, the three-phase currents are smoother, and the distortion is lower when voltage chattering becomes smaller. The feedback current can track the reference signal within 2ms to achieve the engineering rapidity of the current loop when the current is given a step. In order to simulate the dramatic change of back electromotive force caused by external interference, a 10V step disturbance is suddenly added to the q-axis input of IPMSM. The disturbance recovered within 10ms after the current change.
The strategy solves the problems of large chattering and the contradiction between chattering and disturbance suppression in the traditional SMCC of IPMSM. Through theoretical analysis and experimental research, the results show as follow. 1) The strategy proposed can better suppress the influence of voltage chattering on the current tracking accuracy. It improves the steady-state and dynamic performance of the system, solves the problem of low steady-state accuracy and large fluctuation caused by large chattering in traditional SMCC strategy, and ensures that the motor current state can track the reference signal in limited time. 2) The strategy proposed improves the anti-disturbance performance of the system effectively. The second-order TSM control strategy reduces chattering, but its disturbance immunity becomes worse. ESO is designed to estimate system disturbance and make compensation in the control law to solve the contradiction between chattering suppression and anti-disturbance. 3) Smith predictor is introduced to reduce the influence of time delay in the system by predicting the current one beat ahead, thus reducing the resulting system interference and coupling influence.

Key words： permanent magnet synchronous motor second-order terminal sliding mode control extended state observer Smith predictor

PACS:

TM341

基金资助:

安徽省科技重大专项（202003a05020029） ,台达电力电子科教发展计划项目（DREK2020004）

通讯作者: 杨淑英男,1980年生,教授,博士生导师,研究方向为风力发电及电机驱动控制技术。E-mail：yangsyhfah@163.com

作者简介: 东野亚兰女,1997年生,硕士,研究方向为电机控制。E-mail：2471551773@qq.com

引用本文:

东野亚兰, 杨淑英, 王奇帅, 谢震, 张兴. 基于增强型扩张状态观测器的永磁同步电机低抖振高抗扰二阶终端滑模电流控制[J]. 电工技术学报, 0, (): 20235409-20235409. DONG-YE Yalan, YANG Shuying, WANG Qishuai, XIE Zhen, ZHANG Xing. Enhanced Extended State Observer Based Second Order Terminal Sliding Mode Current Control for Permanent Magnet Synchronous Machine with Low Chattering and Improved Disturbance Rejection. Transactions of China Electrotechnical Society, 0, (): 20235409-20235409.

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