【目的】为了提升永磁同步电机(PMSM)电流控制器的抗扰动能力和鲁棒性,解决传统比例积分(PI)控制在转速和负载变化下的超调及dq轴电流脉动问题,提出了一种带全阶观测器(FO)的PMSM电流滑模控制器。【方法】首先,考虑逆变器死区时间、参数变化和突变等不可避免的扰动,建立了PMSM的实际数学模型。其次,使用FO计算dq轴电流模型扰动,并分析了参数对观测器的影响。然后,考虑到观测扰动,基于滑模控制设计了PMSM的dq轴电流控制器。此外,分析了FO的稳定性,并用李雅普诺夫函数对控制器进行了稳定性分析。【结果】为了验证该方法的有效性,搭建了Matlab/Simulink仿真平台和TMS320F28035的试验平台。通过与其他两种控制器进行对比,本文所提的方法具有结构简单、稳态误差更小的优点。仿真与试验结果表明,与传统的PI控制器相比,本文所提方法的电流控制器在应对参数变化、负载或速度突变时表现出较好的鲁棒性,同时可以抑制dq轴电流脉动,保证了系统的稳定性。【结论】本文提出的带FO的滑模控制器,改善了系统抗扰动能力,提升了系统的动态响应性能,为PMSM在新能源汽车、轨道交通等相关领域的应用提供了技术支持。

Abstract: [Objective] In order to improve the disturbance resistance and robustness of the current controller of permanent magnet synchronous motor (PMSM), and to solve the overshoot and dq axis current ripple problems of traditional proportional integral (PI) control under speed and load changes, a PMSM current controller based sliding mode control with full-order observer (FO) is proposed. [Methods] Firstly, considering the inevitable disturbances such as dead time in the inverter, parameter changes, and abrupt changes, an actual mathematical model of the PMSM was established. Secondly, a FO was used to calculate the disturbance of the dq axis current model, and analyzed the influence of parameters on the observer. Furthermore, considering the observation disturbance, a PMSM dq axis current controller was designed based on sliding mode control. In addition, the stability of the FO was analyzed, and the stability of the controller was analyzed using Lyapunov functions. [Results] To verify the effectiveness of the method, Matlab/Simulink simulation platform and TMS320F28035 experimental platform were built. Comparative results demonstrated that the proposed method features a simpler structure and lower steady-state error than the other two controllers. The simulation and experimental results showed that compared with traditional PI controllers, the current controller of this method exhibits good robustness in dealing with parameter changes, load or speed changes, and can suppress dq axis current pulsation, ensuring the stability of the system. [Conclusion] The sliding mode controller with FO proposed in this paper improves the system’s disturbance resistance ability and enhances its dynamic response performance. This study provides technical support for the application of PMSM in new energy vehicles, rail transit, and related fields.

南京交通职业技术学院科研基金重点项目(JZ2407)