永磁同步电机伺服系统的滑模控制分析与应用.pdfVIP

万方数据 Abstract The permanent magnet synchronous motor(PMSM) is widely used in servo system such as robot, high precision computer numerical control machine tool system, because it has a lot of advantages, such as high efficiency, small size, large torque output, convenient to control etc. However, PMSM is vulnerable of internal parameter variations and external disturbance. The conventional vector control and direct torque control algorithm are usually used in PMSM servo system, but they are difficult to meet the requirements of high performance servo system control . Due to the robustness and disturbance attenuation of the sliding mode control, it has got the attention of many scholars and is successfully used in PMSM servo system, but it will bring chattering to the system. An adaptive sliding mode controller (SMC) with load torque compensation and an adaptive SMC based on MTPA principle are designed in this paper in order to intensify the system disturbance attenuation and reduce chattering at the same time. The control effect and comparison research of the two methods are validated from the Matlab simulation results. The main content of this paper is as follows: First, the research status and development trend of the PMSM servo system at home and abroad are introduced including the servo drive system and control strategy. Second, the theory of the sliding mode control is expounded. The chattering problem is introduced, and the measures to reduce the chattering effectively are proposed.