Lu En, Li Wei, Wang Shibo, Zhang Wuguo, Luo Chengming
School of Agricultural Engineering, Jiangsu University, No. 301 Xuefu Road, Zhenjiang 212013, China; School of Mechatronic Engineering, China University of Mining and Technology, No. 1 Daxue Road, Xuzhou 221116, China.
School of Mechatronic Engineering, China University of Mining and Technology, No. 1 Daxue Road, Xuzhou 221116, China.
ISA Trans. 2021 Oct;116:203-217. doi: 10.1016/j.isatra.2021.01.008. Epub 2021 Feb 8.
The low-speed high-torque permanent magnet synchronous motor (PMSM) drive system is a kind of typical nonlinear, strong-coupling and easy-parameter perturbation electromechanical coupling system. The control system is uncertainties and subject to unknown external interferences as well. In this paper, a disturbance rejection control method combining robust speed controller and load observer is proposed for low-speed high-torque PMSM. The robust speed controller combines the composite nonlinear feedback (CNF) which has advantage in improving the transient responsive performance and the integral sliding mode (ISM) advancing in improving system robustness. Subsequently, the effects of unknown external interferences are avoided by using a sliding mode observer (SMO), in which the chattering is reduced by introducing fuzzy control, and the observation is used for feed-forward compensation. The proposed robust speed controller solves the contradiction between the rapidity and overshoot of the traditional control method, and combines the load observer to compensate the influence of the load mutations and wide range of the load changes on the control system. Finally, the numerical simulation and experiments demonstrate that the proposed speed control method is able to achieve good transient performance in inhibiting system overshoot and reducing stable state error. Additionally, it successfully suppresses the influence of load disturbances and mutations, and shows the proposed method has better robustness.
低速大转矩永磁同步电机（PMSM）驱动系统是一种典型的非线性、强耦合且易受参数扰动的机电耦合系统。其控制系统存在不确定性，并且还受到未知外部干扰的影响。本文针对低速大转矩永磁同步电机，提出了一种将鲁棒速度控制器与负载观测器相结合的干扰抑制控制方法。鲁棒速度控制器结合了在改善瞬态响应性能方面具有优势的复合非线性反馈（CNF）和在提高系统鲁棒性方面具有优势的积分滑模（ISM）。随后，通过使用滑模观测器（SMO）来避免未知外部干扰的影响，其中通过引入模糊控制来减少抖振，并将观测结果用于前馈补偿。所提出的鲁棒速度控制器解决了传统控制方法在快速性和超调量之间的矛盾，并结合负载观测器来补偿负载突变和负载大范围变化对控制系统的影响。最后，数值仿真和实验表明，所提出的速度控制方法能够在抑制系统超调量和减小稳态误差方面实现良好的瞬态性能。此外，它成功地抑制了负载干扰和突变的影响，表明所提出的方法具有更好的鲁棒性。
