关键词: 永磁同步电动机, 超螺旋滑模控制器, 改进扰动观测器, 粒子群算法

Abstract: Aiming at the problem that the servo system of permanent magnet synchronous motor is susceptible to uncertainty such as load disturbance,which leads to poor speed tracking accuracy, a control scheme combining supertwisting sliding mode controller (STSMC) and improved disturbance observer  (IDOB) was designed. STSMC and switching control law were designed to eliminate discontinuities, thus reducing system buffeting and improving system tracking accuracy. In order to estimate the load disturbance in the system,IDOB was used to feed the estimated value of the load disturbance forward to the speed controller for compensation, to suppress the buffeting of the control input
current and enhance the robustness of the system. The introduction of particle swarm optimization algorithm was used to optimize the parameters of the controller,so as to obtain the optimal solution of the controller parameters,which greatly improves the response speed and robustness of the system. The experimental results were illustrated to prove the advantages of high tracking accuracy,strong robustness and fast response speed of the control method.

Key words: permanent magnet synchronous motor, super-twisting sliding mode controller ( STSMC ), improved disturbance observer( IDOB), particle swarm optimization algorithm