Research On Fractional-order Integral Sliding Mode Control Strategy For Permanent Magnet Synchronous Motor Speed Control System

Permanent Magnet Synchronous Motor(PMSM)has been widely applied in high precision machining,robot,aerospace,weapon system,and electric vehicles due to the advantages of high energy density,simple control and high precision.Essentially,PMSM is a complex system with multivariate,strong coupling,variable parameter and nonlinearity,so it exists uncertain factors such as parameter perturbation,current coupling,external disturbance and so on,which directly have impact on the improvement of the system control performance.The PMSM speed control system of a tank-weapon gun control system is mainly described.It develops many relevant research such as the PMSM electromagnetic parameter identification,current decoupling control,speed control strategy based on sliding mode theory,and speed control system automatic code generation technology based on the model design.This paper also explores the control strategy and implementation method of the high-performance PMSM speed control system,which is suitable for the tank-weapon gun control system.Firstly,the mathematical model of surface mounted PMSM is established in the paper.A model reference adaptive identification algorithm for the online identification of electromagnetic parameters is designed aiming at the time-varying problem of PMSM electromagnetic parameter.The parameter identification problem has been changed into optimization problem by establishing a weighted quadratic performance index fuinction.An improved comprehensive learning particle swarm algorithm is used to solve the identification problem,which has been proved to have high identification accuracy by the simulation results.Secondly,for the problem of eak dynamic decoupling ability and the inefficient decoupling in the PMSM speed control system,which adopt the i_d~*= 0 vector control,a current decoupling controller is designed based on the Global Fast Terminal Sliding Mode Control(GFTSMC)to realize the PMSM current decoupling control.An adaptive law is introduced in view of the uncertain factors,such as time-varying and coupling in the variable speed system.The Adaptive Global Fast Terminal Sliding Mode Control strategy(AGFTSMC)is designed to modify the PMSM uncertainty factors and improve the robustness of the GFTSMC.The simulation results show that AGFTSMC strategy can improve the current decoupling ability and the disturbance resistance ability at the same time.Thirdly,for the improvement of the control precision and robustness of speed control system,sliding mode control strategy is adopted as a speed controller.It exists the problems of long convergence time,too many setting parameters and high computational complexity,which are difficult to satisfy the PMSM speed control system performance.A new-type double exponential reaching law is put forward to deal with these problems.A fractional integral sliding mode control strategy is designed as the speed controller of PMSM speed control system according to the characteristics of the controlled object,the advantages of fractional calculus,and the advantages of sliding mode control.For the existence of external disturbance,the extension observer is designed to observe the external disturbance combined with extension observer theory.Moreover,the form of feed forward is introduced in the speed controller to improve the robustness of PMSM speed control system.Finally,the hardware platform of PMSM speed control system is designed for the actual work scene of a tank-weapon gun control system,which is suitable for the tank-weapon gun control system.When realizing complex control strategies,considering the problems of long cycle length and poor-robustness products existing in the traditional control system software development mode,the model-based design approach is adopted to do software development of speed control system.At the same time,the work effectiveness is verified in the Experimental test platform of PMSM speed control system.