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Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2020 Vol.21 No.8 P.1239-1250
A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems
Abstract: Permanent magnet synchronous motor (PMSM) has been widely used in position control applications. Its performance is not satisfactory due to internal uncertainties and external load disturbances. To enhance the control performance of PMSM systems, a new method that has fast response and good robustness is proposed in this study. First, a modified integral terminal sliding mode controller is developed, which has a fast-sliding surface and a continuous reaching law. Then, an extended state observer is applied to measure the internal and external disturbances. Therefore, the disturbances can be compensated for in a feedforward manner. Compared with other sliding mode methods, the proposed method has faster response and better robustness against system disturbances. In addition, the position tracking error can converge to zero in a finite time. Simulation and experimental results reveal that the proposed control method has fast response and good robustness, and enables high-precision control.
Key words: Permanent magnet synchronous motor (PMSM), Sliding mode controller, Extended state observer, Robust control, Motion control
1浙江大学流体动力与机电系统国家重点实验室，中国杭州市，310027
2浙江大学，浙江省先进制造技术重点实验室，中国杭州市，310027
3西北机电工程研究所，中国咸阳市，712099
4北京灵思创奇科技有限公司，中国北京市，102200
摘要：交流永磁同步电机在位置控制中得到广泛应用。然而由于内部不确定性和外部载荷干扰，其性能经常不能满足需求。为提高交流永磁同步电机系统的控制性能，提出一种具有快速响应能力和强鲁棒性的方法。首先，设计一个改进的积分终端滑模控制器，该控制器具有快速滑模面和连续的趋近律。然后采用扩展状态观测器测量内部和外部扰动，从而用前馈补偿方式抵消干扰。与其他滑模控制算法相比，该方法响应快速，并具更强的鲁棒性抵抗系统干扰。同时，控制系统位置跟踪误差能在有限时间内收敛至0。仿真和实验结果表明，该方法具有快速响应和强鲁棒性，并保证高精度控制。
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DOI:
10.1631/FITEE.1900298
CLC number:
TM351
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On-line Access:
2020-08-07
Received:
2019-06-14
Revision Accepted:
2019-10-09
Crosschecked:
2020-07-07