Enhanced Extended State Observer Based Second Order Terminal Sliding Mode Current Control for Permanent Magnet Synchronous Machine with Low Chattering and Improved Disturbance Rejection
Dongye Yalan, Yang Shuying, Wang Qishuai, Xie Zhen, Zhang Xing
School of Electrical Engineering and Automation Hefei University of Technology Hefei 230009 China
Abstract As the bottom control link of the interior permanent magnet synchronous motor (IPMSM) system, the current control plays a crucial role in the system's performance. The 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 sliding-mode chattering, and its suppression would negatively affect the anti-disturbance performance. In order to suppress the chattering 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 the second-order TSM surface is that an integral fast TSM surface is nested into the second-order non-singular TSM surface. The coefficients of the integral fast TSM surface guarantee the rapidity of stator current convergence, and the overshoot is not obvious. The integral term makes the system feedback state have no steady-state current error. The second-order TSM control has superior chattering suppression ability and retains the robustness of switching function to parameter deviation. By introducing the EESO, the disturbance is estimated and compensated, which is beneficial to easing the confliction between chattering suppression and anti-disturbance. A Smith predictor is designed to address negative effects of the delay inherent to the digital control. Consequently, the disturbance is suppressed well. Experiments based on an 18 kW-IPMSM hardware platform verify the current control strategy. The voltage chattering amplitude of the second-order TSM control strategy is less than 20% of that of the traditional SMCC strategy at the rated speed. The amplitude of the current tracking error is affected by voltage chattering. The current tracking accuracy is high, the three-phase currents are smooth, and the distortion is low when voltage chattering becomes small. The feedback current can track the reference signal within 2 ms to achieve the engineering rapidity of the current loop. To simulate the dramatic change of back electromotive force caused by external interference, a 10 V step disturbance is suddenly added to the q-axis input of IPMSM. The disturbance recovered within 10 ms 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. The results of theoretical analysis and experimental research are as follows. (1) The proposed strategy 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 problems 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 a 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 worsens. 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) The Smith predictor is introduced to reduce the influence of time delay in the system by predicting the current one beat, thus reducing the resulting system interference and coupling influence.
Dongye Yalan,Yang Shuying,Wang Qishuai等. Enhanced Extended State Observer Based Second Order Terminal Sliding Mode Current Control for Permanent Magnet Synchronous Machine with Low Chattering and Improved Disturbance Rejection[J]. Transactions of China Electrotechnical Society, 2024, 39(8): 2434-2448.
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