辨识转动惯量扰动观测器的PMSM滑模控制

侯利民　徐越　何佩宇　阎馨

摘 要：针对表面式永磁同步电机调速系统易受参数摄动和负载扰动等不确定因素的影响，提出了一种能够在线辨识转动惯量的扰动观测器永磁同步电机调速系统滑模控制方法。首先利用离散模型参考自适应方法对转动惯量进行辨识，将辨识后的转动惯量引入到设计出的扰动观测器中，利用扰动观测器对负载进行有效观测，并且对各自总和扰动项进行估计并补偿。然后将估计的转动惯量和负载转矩用于滑模速度控制中，设计了基于转动惯量辨识的扰动观测器的PMSM滑模速度環控制器，从而提升了系统鲁棒性。最后，通过仿真和半实物仿真实验验证了本文控制策咯的有效性和可行性。

关键词：永磁同步电机;扰动观测器;转动惯量辨识;滑模控制;模型参考自适应;鲁棒性

DOI：10.15938/j.emc.2020.09.018

中图分类号：TM 351

文献标志码：A

文章编号：1007-449X（2020）09-0165-08

Sliding mode control for PMSM based on disturbance observer with moment of inertia identification

HOU Li-min， XU Yue， HE Pei-yu， YAN Xin

（Faculty of Electrical and Control Engineering， Liaoning Technical University， Huludao 125105，China）

Abstract：

In view of permanent magnet synchronous motor （PMSM） speed regulation system being influenced by some uncertainties including parameter perturbation and load disturbance， a sliding mode control based on disturbance observer with moment of inertia identification was proposed. Firstly， the discrete model reference adaptive method was used to identify the moment of inertia， and the identified moment of inertia is introduced into the designed disturbance observer. The disturbance observer is used to effectively observe the load torque， and the sum of the disturbance terms is estimated and compensated. Then the estimated moment of inertia and load torque are applied to the sliding mode velocity control， and the PMSM sliding mode velocity loop controller based on the disturbance observer was designed to improve the robustness of the system. Finally， the sliding mode control based on disturbance observer is designed and the results of simulation and semi-physical simulation show effectiveness of the proposed method.

Keywords：permanent magnet synchronous motor（PMSM）; disturbance observer; rotational inertia; sliding mode control;model reference adaptive;robustness

0 引 言

永磁同步电机（permanent magnet synchronous motor，PMSM）具有高效率、体积小、损耗小、结构简单、运行可靠、较高的功率转矩密度等优点，在混合动力汽车、数控机床、风力发电等领域得到越来越广泛的应用。随着对控制精确的要求越来越高，当系统受到外界扰动和参数变化时，永磁同步电机传统的矢量PI控制方法已经不能够满足更高的控制精度要求。

如今，国内外学者提出许多控制方法，滑模控制、无源控制、鲁棒控制、模糊控制[1-3]等算法广泛应用于电机控制领域中。实际电机运行过程中负载突变、摩擦力、噪声等外部干扰往往是不可避免的，这些扰动会造成电机运行的波动，影响电机性能。……