| Permanent magnet synchronous motor is a complex non-linear controlled object,with the high coupling strength,the parameters affected by environmental changes and other characteristics,the traditional PID control method is difficult to meet the control requirements of high-performance PMSM speed regulation system;the mechanical speed sensor is installed to improve the cost and reduce the system reliability.Therefore,it is important to study and design high performance controllers and speed sensorless sensors.Aiming at the uncertainty disturbance in permanent magnet synchronous motor speed control system,the problem of traditional linear sliding mode control gain is large and it is easy to cause the chattering,a novel optimal sliding mode control method for PMSM speed regulation system based on nonlinear disturbance observer(NDOB)is proposed.The control lyapunov function method is used to seek the optimal control of the nominal system,and the performance index of the speed regulation system is optimized.Because of the uncertainty of the system,the sliding mode controller based on NDOB is designed,which can effectively restrain the disturbance and improve the robustness of the system.Sliding mode control and optimal control are combined to obtain the integrated control u,which can reduce the chattering of the system and improve the dynamic performance and robustness of the system.In order to solve the problem that NDOB disturbance observer can only be applied to the constant disturbance observation,the optimal sliding mode speed controller of PMSM speed regulation system based on extended nonlinear disturbance observer(ENDOB)is designed,and the ESO speed sensorless PMSM control system is constructed,which saves the cost and improves the control performance of the system.In this paper,the hardware circuit and software program are designed based on TI DSP2812.The experimental platform of PMSM vector control system is established and validated. |
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