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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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

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TM341

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	DONG-YE Yalan
	YANG Shuying
	WANG Qishuai
	XIE Zhen
	ZHANG Xing

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DONG-YE 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, 0, (): 20235409-20235409.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.222359 OR https://dgjsxb.ces-transaction.com/EN/Y0/V/I/20235409

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