基于扩张状态观测器的永磁同步电机低速滑模控制

夏先齐; 张葆; 李贤涛; 张士涛

doi:10.3788/OPE.20192712.2628

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基于扩张状态观测器的永磁同步电机低速滑模控制

微纳技术与精密机械 | 更新时间：2020-07-09

- 基于扩张状态观测器的永磁同步电机低速滑模控制
- Low speed sliding mode control of permanent magnet synchronous motor based on extended state observer
- 光学精密工程 2019年27卷第12期页码：2628-2638
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所，吉林长春 130033
  2.中国科学院大学，北京 100049
- 作者简介：
  
  [ "夏先齐(1994-)，男，湖北黄冈人，博士研究生，2016年于东南大学获得学士学位，主要从事航空光电稳定平台伺服控制系统的研究。Email：xxq_ee@163.com" ]
  张葆(1966-)，男，吉林磐石人，研究员，博士生导师，1989年、1994年于长春光机学院分别获得学士、硕士学位，2004年于中国科学院长春光学精密机械与物理研究所获得博士学位，主要从事航空光电成像技术的研究。E-mail：cleresky@vip.sina.com
- 基金信息：
  
  国家自然科学基金资助项目(61705225)
- DOI：10.3788/OPE.20192712.2628
  中图分类号： TP273
- 收稿日期：2019-05-22，
  
  录用日期：2019-6-19，
  
  纸质出版日期：2019-12-25
- 稿件说明：
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夏先齐, 张葆, 李贤涛, 等. 基于扩张状态观测器的永磁同步电机低速滑模控制[J]. 光学精密工程, 2019,27(12):2628-2638.

Xian-qi XIA, Bao ZHANG, Xian-tao LI, et al. Low speed sliding mode control of permanent magnet synchronous motor based on extended state observer[J]. Optics and precision engineering, 2019, 27(12): 2628-2638.
夏先齐, 张葆, 李贤涛, 等. 基于扩张状态观测器的永磁同步电机低速滑模控制[J]. 光学精密工程, 2019,27(12):2628-2638. DOI： 10.3788/OPE.20192712.2628.

Xian-qi XIA, Bao ZHANG, Xian-tao LI, et al. Low speed sliding mode control of permanent magnet synchronous motor based on extended state observer[J]. Optics and precision engineering, 2019, 27(12): 2628-2638. DOI： 10.3788/OPE.20192712.2628.

摘要

为了解决传统滑模控制高性能与系统抖振之间的矛盾，提高基于永磁同步电机驱动的航空光电平台系统的可靠性和指向精度，本文提出了一种新型滑模控制器趋近律，该趋近律可以有效削弱系统抖振并达到更好的跟踪效果。在此基础上，为提高扰动观测器的带宽以提升观测的准确性，将扩张状态观测器引入到光电稳定平台伺服系统中以观测系统的总和扰动，并将观测到的总和扰动补偿进滑模控制器，以更好地抑制系统抖振并提高系统抵抗外扰的能力。实验结果表明，本文提出的滑模控制器结合扩张状态观测器的方法明显优于传统的PI+DOB的控制方法。在匀速跟踪实验中，系统的位置指向误差的RMS值仅为0.005 7°，完全满足航空光电稳定平台的需求，约是经典PI+DOB控制方法精度的3倍；在正弦波跟踪实验中，本文提出的方法很大程度减小了速度跟踪的相位滞后，位置指向误差仅为PI+DOB方法的1/6；在三角波跟踪实验中，位置指向误差RMS值约为PI+DOB的1/3。

Abstract

To overcome the trade-off between high performance and system chattering in conventional Sliding Mode Control(SMC)

and to improve the reliability and pointing accuracy of an aeronautical photoelectric stablization platform based on Permanent Magnet Synchronous Motors(PMSM)

an approach law for sliding mode controller was proposed. The law can effectively weaken the chattering of the system and achieve a better tracking effect. On this basis

to increase the bandwidth of the disturbance observer and the accuracy of the observation

an Extended State Observer(ESO) was introduced into the servo system of the photoelectric stabilization platform to observe the total disturbance of the system.Further

the lumped disturbance was compensated within the sliding mode controller to better suppress the chattering of the system and improve the system′s ability to resist external disturbances. Experimental results demonstrate that the sliding mode controller

combined with ESO

performs better than the traditional PI+DOB control method. In the uniform speed tracking experiment

the RMS value of the system′s position pointing error is observed to be merely 0.005 7°

which completely satisfies the requirements of the aeronautical photoelectric stabilization platform

and the accuracy is observed to be approximately three times as high as that of the classical PI+DOB control method. In the sinusoidal wave tracking experiment

the proposed method is observed to greatly reduce the phase lag of speed tracking

and the position pointing error is detected to be merely one-sixth of that of the PI+DOB method. In the trianguler wave tracking experiment

the RMS of the position pointing error is approximately one third of that of PI+DOB method.

关键词

Keywords

references

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