摘要
针对开关磁阻电机(SRM)常规终端滑模控制器(SMC)响应速度慢和传统滑模观测器(SMO)存在的抖振问题,提出一种基于改进终端SMC和变速趋近律SMO的SRM瞬时转矩控制(DITC)方法。设计了电机速度误差可快速收敛的改进非奇异快速终端滑模面和可自适应调整趋近律速度的变速幂次趋近律,利用等效控制法,得出了连续非奇异控制律。通过Lyapunov函数证明了该系统的稳定性和有限时间收敛性。设计了变速趋近律SMO以实现SRM无位置传感器控制。采用双曲正切函数作为切换函数,并引入快速幂次趋近律作为SMO速度观测的趋近律,克服了传统SMO固定开关增益带来的抖振和收敛速度问题。通过Lyapunov函数证明了SMO运行的稳定性。仿真和实验验证了所提方法的有效性。结果表明:与常规终端SMC相比,改进终端SMC能够在0.07 s内实现对期望转速的跟踪,调节时间减少了0.04 s,并且系统稳定时转速波动降低了0.5 r/min,具有更好的响应速度和稳定性。在负载突增时,系统转速可在0.02 s内调节至给定值,恢复时间减少了0.05 s,具有更好的调节性能。变速趋近律SMO能够在0.01 s内实现转速估计误差的收敛,且误差波动维持在2 r/min以内,可实现电机转速和转子位置的准确估计。
An instantaneous torque control method for switched reluctance motors(SRM)based on improved terminal sliding mode controller(SMC)and sliding mode observer(SMO)with variable speed reaching law was proposed to address the issues of slow response speed of conventional terminal sliding mode control system of SRM and system chattering of traditional sliding mode observer.Firstly,an improved nonsingular fast terminal sliding mode surface with fast convergence of motor speed error and a variable speed power reaching law with adaptive adjustment of reaching law speed were designed.The continuous nonsingular control law was obtained by using the equivalent control method.The stability and finite-time convergence of the system were proved by the Lyapunov function.Secondly,a sliding mode observer with variable speed reaching law was designed to realize sensorless control of SRM.In order to solve the chattering and convergence speed issues brought on by the fixed switching gain of the conventional sliding mode observer,the hyperbolic tangent function was employed as the switching function and the fast power reaching law was introduced as the reaching law of speed observation.The stability of the observer was proved by the Lyapunov function.Finally,the simulation and experiment verified the effectiveness of the proposed method.The results show that compared with the conventional terminal sliding mode control,the improved terminal sliding mode control system can realize the tracking of the desired speed in 0.07 s,the adjustment time is reduced by 0.04 s,and the speed fluctuation is reduced by 0.5 r/min when the system is stable,which has better response speed and stability.When the load suddenly increases,the system speed can be adjusted to a given value within 0.02 s,and the recovery time is reduced by 0.05 s,which has a better adjustment ability.The sliding mode observer with variable speed reaching law can realize the convergence of speed estimation error within 0.01 s,and the error fluctuation is maintained within 2 r/min,which can realize the accurate estimation of motor speed and rotor position.
作者
凌辉
杜钦君
庞浩
杨姝欣
赵正阳
李存贺
LING Hui;DU Qinjun;PANG Hao;YANG Shuxin;ZHAO Zhengyang;LI Cunhe(School of Electrical and Electronic Engineering,Shandong University of Technology,Zibo 255022,China)
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2023年第11期3145-3155,共11页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家自然科学基金(62076152)
山东省自然科学基金(ZR2020MF096)
山东省科技型中小企业创新能力提升工程项目(2021TSGC1109)。
关键词
开关磁阻电机
终端滑模控制器
滑模观测器
快速幂次趋近律
收敛速度
抖振
switched reluctance motor
terminal sliding mode controller
sliding mode observer
fast power reaching law
convergence speed
chattering
