基于前馈补偿的永磁直驱电机低速抗扰动滑模控制策略

摘要/Abstract

摘要： 永磁直驱伺服电机系统速度控制精度和稳定性容易受到齿槽效应、负载变化等多种干扰的影响。滑模控制由于具有较高的抗干扰能力和鲁棒性能在永磁伺服电机控制领域有重要的应用价值。本文研究了一种基于前馈补偿的永磁直驱伺服电机低速抗扰动滑模控制策略,用以提高低速运行时速度控制的稳定性。通过调整不同系统状态下的滑模面趋近速度,构造了一种新型指数趋近率函数,使得系统在滑模面附近切换更加平滑;为了提升负载突变等恶劣工况下系统的扰动抑制能力,引入降阶扰动观测器对系统受到的转矩扰动进行观测,并进行前馈补偿,通过前馈补偿与改进趋近率组合的方式提高系统的鲁棒性。仿真和实验结果表明,该控制策略对永磁直驱伺服电机低速运行时的多种扰动具有明显抑制效果。

关键词: 永磁直驱伺服电机, 扰动抑制, 降阶状态观测器, 前馈补偿, 改进趋近率, 滑模控制

Abstract: A low-speed anti disturbance sliding mode control strategy of permanent magnet direct drive servo motor based on feedforward compensation was studied to improve the stability of speed control at low speed. By adjusting the approach speed of sliding mode surface under different system states, a new exponential approach rate function was constructed, which made the system switch more smoothly near the sliding mode surface. In order to improve the disturbance suppression ability of the system under bad working conditions such as sudden load, a reduced order disturbance observer was introduced to observe the torque disturbance received by the system, and feedforward compensation was carried out. The robustness of the system was improved by the combination of feedforward compensation and improved approach rate. The simulation and experimental results show that the control strategy has obvious suppression effect on various disturbances of permanent magnet direct drive servo motor at low speed.

Key words: permanent magnet direct drive servo motor, disturbance suppression, reduced order state observer(RSO), feedforward compensation, improved approach rate, sliding mode control(SMC)

中图分类号:

TM351

刘佳, 李晨曦, 李荣, 季飚, 卜飞飞, 秦海鸿. 基于前馈补偿的永磁直驱电机低速抗扰动滑模控制策略[J]. 微特电机, 2023, 51(1): 38-44.

LIU Jia, LI Chenxi, LI Rong, JI Biao, BU Feifei, QIN Haihong. Permanent Magnet Direct Drive Motor Based on Feedforward Compensation Low
Speed Anti Disturbance Sliding Mode Control Strategy[J]. Small & Special Electrical Machines, 2023, 51(1): 38-44.

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