Xia Xianqi, Zhang Bao, Li Xiantao
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China.
University of Chinese Academy of Sciences, No.19, Yuquan Rd., Beijing 100049, China.
Sensors (Basel). 2020 Mar 10;20(5):1526. doi: 10.3390/s20051526.
Due to the process defects and imperfection of drivers, permanent magnet synchronous motors (PMSM) are problematic to control. There is still a lack of effective high-performance control methods for inertial stabilized platforms based on PMSM currently. At present, the most frequently used method is sliding mode control (SMC), but traditional sliding mode control cannot overcome the contradiction between high performance and system chattering. In order to solve this problem and improve the system reliability and pointing accuracy, a new approach law for the sliding mode controller is proposed in this paper. In view of the large periodic torque ripple in PMSM, an iterative learning controller (ILC) is introduced to compensate for the disturbance. Based on these, aimed at suppressing all kinds of real-time disturbances in the working environment of the system, the extended state observer (ESO) is brought into the servo system to observe the lumped disturbance of the system, and the total disturbance observed is compensated into the sliding mode controller, so as to better suppress the system chattering and enhance the system's ability of resisting external disturbance. Experiments are carried out on an inertial stabilization platform based on DSP + CPLD. The final experiments verify that the SMC with the new approach, combined with ILC and ESO, is of outstanding performance when compared with the traditional proportional integral (PI) + disturbance observer (DOB) control scheme.
由于驱动器的工艺缺陷和不完善，永磁同步电机（PMSM）的控制存在问题。目前，基于PMSM的惯性稳定平台仍缺乏有效的高性能控制方法。目前，最常用的方法是滑模控制（SMC），但传统的滑模控制无法克服高性能与系统抖振之间的矛盾。为了解决这个问题并提高系统可靠性和指向精度，本文提出了一种新的滑模控制器趋近律。针对PMSM中存在的较大周期性转矩脉动，引入迭代学习控制器（ILC）来补偿干扰。在此基础上，为了抑制系统工作环境中的各种实时干扰，将扩展状态观测器（ESO）引入伺服系统，观测系统的总干扰，并将观测到的总干扰补偿到滑模控制器中，从而更好地抑制系统抖振，增强系统抗外部干扰的能力。在基于DSP + CPLD的惯性稳定平台上进行了实验。最终实验验证，与传统的比例积分（PI）+干扰观测器（DOB）控制方案相比，采用新趋近律的SMC结合ILC和ESO具有优异的性能。
