| As we all know,due to high efficiency,small size and low loss,permanent magnet synchronous motors(PMSMs)are widely applied in the field of automatic control.In recent years,with the improvement of the performance of permanent magnet materials and the maturity of motor control technology,the PMSMs have become increasingly important in aerospace,military and industrial production.At the same time,the PMSM is also a multi-variable,strongly coupled nonlinear system.Especially when it is affected by irregular disturbances such as load,how to design effective control algorithms to obtain precise control performance has become a hot spot in the field of automatic control.The thesis takes the PMSM model as the research object and considers the influence of various types of disturbances.By combining T-S fuzzy modeling,disturbance observer design and integral sliding mode control methods,an effective disturbance modeling and anti-disturbance control algorithm is proposed to ensure the multi-objective control requirements of PMSMs.The main content of the article is as follows:(1)Explain the basic principles of PMSMs,study the motor motion equations,and obtain mathematical models in different coordinate systems.Furthermore,based on the current vector control method with id=0,a mathematical model of rotational speed control after approximate decoupling under the d-q axis synchronous rotating magnetic field is constructed.By using convex optimization algorithm with the L1 performance optimization index,it is verified that the closed-loop system tends to be stable,and the problem of disturbance suppression in the motor speed control system is solved,and the speed is tracked to the desired value.(2)The anti-disturbance control problem is studied for the PMSM model based on T-S disturbance modeling.In order to model irregular and nonlinear disturbances,the T-S fuzzy model is introduced to dynamically describe exogenous disturbances.Based on this,a fuzzy disturbance observer(DO)is constructed to realize the dynamic estimation of the disturbance.By using the information of disturbance estimation,an effective composite anti-disturbance control input is designed.At the same time,the L1 performance index is introduced to suppress the influence of the bounded disturbance.Based on the convex optimization theory,the gains of the controller and the observer can be obtained to ensure the satisfactory stability and dynamic tracking performance of the closed-loop motor model.(3)The anti-disturbance tracking control is studied for the PMSM model by using integral sliding mode theory.Considering the influence of unmatched disturbance on the motor,a DO is designed to estimate the unmatched disturbance.By combining the motor dynamic model with the estimated information,the integral sliding mode surface and integral controller are designed to ensure that the dynamic trajectory of the state is driven to the sliding surface,and the disturbance rejection to the motor model can be realized.Furthermore,the satisfactory stability and dynamic tracking performance can also be satisfied.(4)The above algorithms are all verified by Matlab/Simulink,which respectively realize the effective estimation and dynamic compensation of harmonic disturbance,pulse disturbance,sawtooth disturbance,and ensure the multi-objective control requirements of the PMSM system. |
