Research On Permanent Magnet Synchronous Motor Servo Control System Based On Integral Terminal Sliding Mode Control Technology

At present,permanent magnet synchronous motor(PMSM)servo control systerm is widely applied in industrial manufacturing and daily life,such as high-performance robot,CNC machine tools,industrial automation and other electromechanical integration field.PMSM has many advantages such as high air gap,high magnetic flux density,small torque ripple,high torque inertia ratio and high efficiency.It has been widely applied in AC speed regulation system.In permanent magnet synchronous motor servo control system,the traditional control algorithm can only achieve signal tracking control,but its convergence and anti-disturbance ability is relatively weak.Therefore,how to design a high performance control system is the key problem in some areas with higher system performance requirements.The main work of this thesis is as follows:First of all,the idea of terminal sliding mode control is applied to permanent magnet synchronous motor speed control system.According to the mathematical model of PMSM,the integral terminal sliding mode controller is designed to ensure that the motor speed signal converges to a given signal in a finite time.The control performance is identified based on the Matlab software.The simulation results show that the designed controller can guarantee the closed-loop system has good robustness and tracking performance.Secondly,in order to apply the advanced control algorithm to the PMSM speed control system,we build a test platform for PMSM speed control system based on the DSP28335 chip.Meanwhile,the digital discretization method of the integral terminal sliding mode controller is introduced.Then the control algorithm is applied to the experimental platform compared with the traditional PI control algorithm.The control performance of proposed control method is experimentally analyzed.Finally,for the d-axis voltage,a first-order finite-time controller is firstly designed for the d-axis voltage based on the vector control principle.And then for the q-axis voltage,an Radial Basis Function(RBF)neural network based integral high-order terminal sliding mode controller is designed.Theoretical analysis shows that under the proposed controller,the desired position can be tracked by the motor position in a finite time.Simulation results are given to show that the proposed control method has a strong anti-disturbance ability and a fast convergence performance.