基于NDO的永磁同步电动机自适应分数阶滑模控制

doi:10.3969/j.issn.1004-132X.2023.09.010

摘要/Abstract

摘要： 针对永磁同步电动机（PMSM）驱动的高档数控机床进给系统易受参数变化、外部扰动等不确定性因素影响的问题，设计了一种基于非线性干扰观测器（NDO）的自适应分数阶滑模控制（AFOSMC）方法。建立了含有不确定性的PMSM动态数学模型。将自适应控制与分数阶滑模控制（FOSMC）相结合，抑制了整数阶滑模控制的抖振现象，且能实时调整切换增益，提高了系统的控制精度。然而，外部干扰会对系统产生极大的影响，因此采用NDO实时辨识外部干扰，将观测值作为前馈补偿引入AFOSMC中，以提高控制器的抗干扰能力。实验结果表明，基于NDO的AFOSMC方法有效地削弱了抖振现象，提高了进给系统的跟踪性能和抗扰能力。

关键词: 永磁同步电动机, 分数阶滑模控制, 自适应控制, 非线性干扰观测器

Abstract: The feed system of CNC machines driven by PMSM servo system was susceptible to parameters variation, external disturbances and other uncertain factors, an AFOSMC scheme was designed based on NDO. First, the dynamic mathematical model of PMSM with uncertainties was established. Then, FOSMC and adaptive control were combined to suppress the chattering phenomenon of integer order sliding mode control, and the switching gain might be adjusted in real time to improve the control accuracy of the system. However, external disturbances would have a great impact on the system. Therefore, NDO was used to identify the external disturbances in real time, and the observed values were introduced into AFOSMC as feedforward compensation to improve the anti-interference ability of the controller. Finally, the experimental results show that the designed AFOSMC may weaken the chattering phenomenon effectively based on NDO, improve tracking performance and anti-interference ability of the feed systems.

Key words: permanent magnet synchronous motor(PMSM), fractional order sliding mode control(FOSMC), adaptive control, nonlinear disturbance observer（NDO）

中图分类号:

TM341

赵希梅, 王超, 金鸿雁. 基于NDO的永磁同步电动机自适应分数阶滑模控制[J]. 中国机械工程, 2023, 34(09): 1093-1099,1119.

ZHAO Ximei, WANG Chao, JIN Hongyan. Adaptive Fractional Order Sliding Mode Control for PMSMs Based on NDO[J]. China Mechanical Engineering, 2023, 34(09): 1093-1099,1119.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2023.09.010

http://www.cmemo.org.cn/CN/Y2023/V34/I09/1093

参考文献

［1］BARKAT S, TLEMCANI A,NOURI H. Noninteracting Adaptive Control of PMSM Using Interval Type-2 Fuzzy Logic systems［J］. IEEE Transactions on Fuzzy Systems, 2011, 19(5):925-936.
［2］侯利民, 申鹤松, 阎馨, 等.永磁同步电机调速系统H∞鲁棒控制［J］.电工技术学报,2019,34(7):1478-1487.
HOU Liqun, SHEN Hesong, YAN Xin, et al. H∞ Robust Control of PMSM Speed Regulation System［J］. Transactions of China Electrotechnical Society, 2019, 34(7):1478-1487.
［3］付东学, 赵希梅. 永磁直线同步电机自适应反推全局快速终端滑模控制［J］. 电工技术学报, 2020, 35(8):1634-1641．
FU Dongxue, ZHAO Ximei. Adaptive Backstepping Global Fast Terminal Sliding Mode Control for Permanent Magnet Linear Synchronous Motor［J］. Transactions of China Electrotechnical Society, 2020, 35(8):1634-1641．
［4］DELAVIRI H, GHADERI R, RANJBAR A, et al. Fuzzy Fractional Order Sliding Mode Controller for Nonlinear Systems［J］. Communications in Nonlinear Science and Numerical Simulation, 2010, 15(4):963-978.
［5］金鸿雁, 赵希梅. 永磁直线伺服系统递归小波Elman 神经网络互补滑模控制［J］. 电机与控制学报, 2019, 23(10):102-109.
JIN Hongyan, ZHAO Ximei. Wavelet-based Elman Neural Network Complementary Sliding Mode Control for Permanent Magnet Linear Servo System［J］. Electric Machines and Control, 2019, 23(10):102-109.
［6］SUN G, MA Z. Practical Tracking Control of Linear Motor with Adaptive Fractional Order Terminal Sliding Mode Control［J］. IEEE/ASME Transactions on Mechatronics, 2017, 22(6):2643-2653.
［7］ZAIHIDEE F M,MEKHILEF S,MUBIN M.Application of Fractional Order Sliding Mode Control for Speed Control of Permanent Magnet Synchronous Motor［J］. IEEE Access, 2019, 7:101765-101774.
［8］KIM E K, KIM J, NGUYEN H T, et al. Compensation of Parameter Uncertainty Using an Adaptive Sliding Mode Control Strategy for an Interior Permanent Magnet Synchronous Motor Drive［J］. IEEE Access, 2019, 7:11913-11923.
［9］赵希梅, 姬相超, 王浩林.永磁直线同步电动机的时滞自适应积分滑模控制［J］.电机与控制学报, 2020, 24(8):44-50.
ZHAO Ximei, JI Xiangchao, WANG Haolin. Time Delay Adaptive Integral Sliding Mode Control for Permanent Magnet Linear Synchronous Motor［J］. Electric Machines and Control, 2020, 24(8):44-50.
［10］JUNEJO A K, XU W, MU C, et al. Adaptive Speed Control of PMSM Drive System Based a New Sliding-mode Reaching Law［J］. IEEE Transactions on Power Electronics, 2020, 35(11):12110-12121.
［11］周华伟, 于晓东, 高猛虎, 等.基于不匹配干扰观测器的圆筒型永磁直线电机新型滑模速度控制［J］.中国电机工程学报, 2018, 38(7):2163-2170.
ZHOU Huawei, YU Xiaodong, GAO Menghu, et al. Novel Sliding Mode Speed Control for Tubular Permanent Magnet Linear Motors Based on Mismatched Disturbance Observers［J］. Proceedings of the CSEE, 2018, 38(7):2163-2170.
［12］LIU X, YU H, YU J, et al. Combined Speed and Current Terminal Sliding Mode Control with Nonlinear Disturbance Observer for PMSM Drive［J］. IEEE Access, 2018, 6:29594-29601.
［13］刘旭东, 李珂, 张奇, 等.基于非线性扰动观测器的永磁同步电机单环预测控制［J］.中国电机工程学报, 2018, 38(7):2153-2162.
LIU Xudong, LI Ke, ZHANG Qi,et al. Single-loop Predictive Control of PMSM Based on Nonlinear Disturbance Observers［J］. Proceedings of the CSEE, 2018, 38(7):2153-2162.
［14］NGUYEN A T, BASIT B A, CHOI H H, et al. Disturbance Attenuation for Surface-mounted PMSM Drives Using Nonlinear Disturbance Observer-based Sliding Mode Control［J］. IEEE Access, 2020, 8:86345-86356.
［15］SHAH P, AGASHE S. Review of Fractional PID Controller［J］. Mechatronics, 2016, 38:29-41.
［16］张碧陶, 皮佑国. 基于分数阶滑模控制技术的永磁同步电机控制［J］. 控制理论与应用, 2012, 29(9):1193-1197.
ZHANG Bitao, PI Youguo. Fractional Order Sliding-mode Control for Permanent Magnet Synchronous Motor［J］. Control Theory & Applications, 2012, 29(9):1193-1197.
［17］周挺, 徐宇工, 吴斌. 球形机器人的自适应分数阶PIλDμ滑模速度控制方法［J］. 吉林大学学报(工学版), 2021, 51(2):728-737.
ZHOU Ting, XU Yugong, WU Bin. Adaptive Fractional PIλDμ Sliding Mode Control Method for Speed Control of Spherical Robot［J］. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(2):728-737.［18］王振滨, 曹广益, 朱新坚. 分数阶线性定常系统的稳定性及其判据［J］. 控制理论与应用, 2004,21(6):922-926.
WANG Zhenbin, CAO Guangyi, ZHU Xinjian. Stability Conditions and Criteria for Fractional Order Linear Time-invariant Systems［J］. Control Theory & Applications, 2004,21(6):922-926.

[1]	李小力, 陈威, 闫蓉. 基于BP神经网络的空间轮廓误差自适应补偿 [J]. J4, 201016, 21(16): 1902-1906.
[2]	陈浩, 巩明德, 赵丁选, 张伟, 张悦, 郝春友, . 电液主动悬架灵敏度分析与自适应跟踪控制[J]. 中国机械工程, 2023, 34(04): 481-489.
[3]	朱安, 艾海平, 陈力. 基于障碍Lyapunov函数的双臂空间机器人捕获卫星柔顺控制[J]. 中国机械工程, 2022, 33(24): 2997-3006.
[4]	李欢, 吕天乐, 夏裕俊, 李永兵. 基于电极位移的点焊飞溅量化评价与自适应控制研究[J]. 中国机械工程, 2022, 33(09): 1025-1033.
[5]	周锋, 郑丽霞, 沈烨超, 金波. 基于自适应反演的超细金刚线张力控制系统[J]. 中国机械工程, 2021, 32(24): 2995-3000，3007.
[6]	范爱民;常思勤;陈慧涛. 电磁驱动配气机构的反演滑模控制[J]. 中国机械工程, 2020, 31(03): 274-280,288.
[7]	马维东；李淑娟；杨磊鹏；王馨翊；谷中豪. 功能梯度材料的低温挤压成形过程建模与实验研究[J]. 中国机械工程, 2019, 30(13): 1600-1606.
[8]	张铁1;李昌达1;覃彬彬1;刘晓刚2. SCARA机器人的自适应迭代学习轨迹跟踪控制[J]. 中国机械工程, 2018, 29(14): 1724-1729.
[9]	张威1，2;李开伟1;王伟1;王立文2. 飞机电动机轮设计及电动滑行系统仿真研究[J]. 中国机械工程, 2018, 29(13): 1547-1552.
[10]	宋立业;万应才. 基于RBF神经网络的隧道掘进机推进自适应PID控制[J]. 中国机械工程, 2017, 28(14): 1676-1682.
[11]	焦盼德, 李淑娟, 杨磊鹏, 闫存富. 功能梯度材料快速成形过程建模与控制[J]. 中国机械工程, 2017, 28(06): 733-738.
[12]	罗清顺, 李璟澜, 刘辉, 杨秦敏. 基于L1自适应控制理论的矿井提升机调速控制器设计[J]. 中国机械工程, 2016, 27(17): 2327-2333.
[13]	汪明磊, 陈无畏, 王家恩. 基于道路势场的车道偏离自动校正自适应控制[J]. 中国机械工程, 2013, 24(24): 3402-3407.
[14]	徐胜男, 周祖德, 艾青松, 刘泉. 基于粒子群优化的神经网络自适应控制算法[J]. 中国机械工程, 2012, 23(22): 2732-2738.
[15]	吴忠强1, 张晓霞1, 舒杰2. 柔性机器人基于自适应模糊动态面的实用稳定控制[J]. 中国机械工程, 2012, 23(19): 2297-2301.