关键词: 二阶滑模观测器, 永磁同步电机, 低通滤波器, 自抗扰控制

Abstract:

A kind of second order sliding mode observer(SMO) using saturation function can observe the rotor position and speed of permanent magnet synchronous motor(PMSM) effectively. Moreover, the second order SMO weaken the chatting problem and removed low pass filter, which traditional SMO inherently had. When the system reaches steady state, the control of SMO turned into a line state error feedback, losing the invariance of SMO, therefore the ability of disturbance rejection would be weakened. SMO with ADRC could improve its capability in the line state error feedback. A whole design of extended state observer (ESO) and nonlinear proportional-integral-derivative(NPID) was proposed to simplify the design process. The design process was simplified, and the need of parameters to be confirmed was fewer. Experimental results show that the algorithm can precisely estimate the position and speed, and the system has a strong capability of disturbance rejection.

Key words: second order sliding mode observer (SMO), permanent magnet synchronous motor (PMSM), low pass filter, active disturbance rejection control (ADRC)