【目的】传统永磁同步电机(PMSM)磁场定向控制(FOC)系统的转速环和定子dq轴电流环通常采用比例积分(PI)控制，导致转速超调量较大。采用滑模控制(SMC)可减小超调量，但仍存在动态响应较慢，电流脉动较大的问题。【方法】针对此问题，本文采用超螺旋滑模控制(STSMC)来调节转速外环和定子dq轴电流内环，以提升响应速度，抑制转速脉动和电流脉动，从而提升系统的动态性能和稳态性能。进一步地，为提升系统在外界负载扰动下的鲁棒性，设计扩张状态观测器(ESO)观测扰动，将负载扩张为新的状态量，在负载转矩突变时通过前馈补偿减少转速恢复时间和转速跌落，从而提升系统鲁棒性。【结果】仿真结果表明，在1 000 r/min基准转速、10 N·m阶跃负载工况下，相较于转速SMC，STSMC的转速调节时间减少86.25%，转速脉动均方根误差(RMSE)减小95.35%，d轴电流脉动RMSE减小45.44%，q轴电流脉动RMSE减小34.31%；相较于转速SMC，基于ESO的STSMC(STSMC-ESO)的转速调节时间减少86.25%，转速脉动RMSE减小95.70%，d轴电流脉动RMSE减小45.61%，q轴电流脉动RMSE 减小37.02%；存在外界负载扰动时，相较于STSMC，STSMC-ESO的转速跌落减少21.81%，转速恢复时间减少90%。【结论】STSMC-ESO策略可有效降低转速超调量，提升系统动态响应速度，同时削减系统抖振，大幅降低转速和电流脉动，改善系统的稳态性能，当受到外界负载扰动后，转速能快速恢复并保持相对稳定。

[Objective] In field-oriented control (FOC) system of traditional permanent magnet synchronous motor (PMSM), the speed loop and the stator dq-axis current loops typically adopt proportional integral (PI) control, which results in a significant speed overshoot. Although sliding mode control (SMC) can reduce overshoot, it still suffers from slow dynamic response and significant current ripple. [Methods] To address these issues, this study adopted super-twisting sliding mode control (STSMC) to regulate the speed outer loop and stator dq-axis current inner loop to improve response speed and suppress speed and current ripples, thereby enhancing the dynamic and steady-state performance of the system. Furthermore, to improve system robustness under external load disturbances, an extended state observer (ESO) was designed to observe disturbances. By treating the load as an extended state variable, the proposed method reduced speed recovery time and mitigated speed drop during sudden load torque changes through feedforward compensation, thereby enhancing system robustness. [Results] Simulation results showed that under an operating condition of 1 000 r/min reference speed and 10 N·m step load, compared with speed SMC, the STSMC reduced the speed regulation time by 86.25%, the root mean square error (RMSE) of speed ripple by 95.35%, the d-axis current ripple RMSE by 45.44%, and the q-axis current ripple RMSE by 34.31%. Compared with speed SMC, the STSMC based on ESO (STSMC-ESO) reduced the speed regulation time by 86.25%, the speed ripple RMSE by 95.70%, the d-axis current ripple RMSE by 45.61%, and the q-axis current ripple RMSE by 37.02%. Moreover, under external load disturbances, compared with STSMC, STSMC-ESO reduced the speed drop by 21.81% and the speed recovery time by 90%. [Conclusion] The STSMC-ESO strategy effectively reduces speed overshoot and enhances dynamic response speed. Meanwhile, it suppresses system chattering and significantly reduces speed and current ripples, thus improving steady-state performance of the system. Under external load disturbances, the system can quickly recover speed and maintain relative stability.

长安大学2024年大学生创新训练计划项目(X202410710494)