关键词: 永磁同步电机, 低速, 迭代学习, 反步自适应滑模, 速度估计

Abstract:

Because of the space magnetic field distribution of non sinusoidal, cogging and unknown factors such as the existence of torque ripple and speed fluctuation of the system seriously affects the control precision of the servo system, limits the application of permanent magnet synchronous motor in low speed high performance direct drive system. In view of the situation, iterative learning and adaptive sliding mode control were adopted to suppress the periodic torque ripple, and to improve the robustness and response speed of the system. An adaptive sliding mode composite control based on iterative learning compensation was proposed. Based on the design of the algorithm was verified, experimental verification and experiment on the effectiveness of the algorithm was designed under different operating conditions, and gives the relevant analysis and comparison.

Key words: PMSM, low speed, iterative learning control (ILC), adaptive sliding mode, speed estimation