永磁同步电机抗惯量扰动自适应速度控制

An adaptive speed control method with sliding mode variable structure is proposed to improve the control performance of permanent magnet synchronous motor (PMSM) speed servo system and to enhance its anti-inertia disturbance capability. A speed control method of sliding mode control (SMC) is adopted in the PMSM double closed-loop control system, and an integral sliding mode surface is introduced into SMC to avoid the requirement of acceleration signal in the control and to reduce the steady state error of the system. In addition, the sigmoid function is used to replace the traditional sign function in the reaching law to further improve the dynamic quality of the system. In order to solve the problem of rotational inertia variation caused by load change in PMSM control system, the rotational inertia is estimated in real time based on the theory of discrete model reference adaptive system (MRAS), and the inertia identification value is updated to the SMC to realize adaptive SMC speed control. Experimental results show that the proposed adaptive SMC control method has a faster speed response, and the speed response time is reduced from 85 ms to 54 ms compared with the conventional SMC control. Moreover, it has stronger robustness to inertia disturbances. This method is suitable for servo control of some special time-varying inertia occasions, such as printing machinery, textile machinery, and cable equipment.