Research On Windup And Disturbances Of Permanent Magnet Synchronous Motor Controller

Permanent magnet synchronous motor(PMSM)has many characteristics,for instance compact structure,high torque-to-current radio and low noise.Due to these advantages,PMSM has been extensively used in robots,aviation and so on.Based on permanent magnet synchronous motor vector control theory and modern control theory,this paper proposes an improved anti-windup algorithm based on the sliding mode variable structure method for the windup problem of the traditional PID controller,In order to solve the problem of motor speed chattering caused by changes in parameters,a second-order sliding mode controller based on the extended state disturbance observer is proposed,which realizes the high-performance control of permanent magnet synchronous motor.Firstly,the permanent magnet synchronous motor is derived according to the coordinate transformation theory.The mathematical model on the dq axes establishes the second-order sliding mode controller based on extended state disturbance observer.Then,aiming at the windup problem of the traditional PID controller,an improved PID anti-windup controller is proposed,but the improved anti-windup controller cannot achieve disturbance suppression well.Therefore,in order to solve the problems of parameter perturb ation and external disturbance in PMSM and enhance the robustness of the control system,Due to the characteristics of strong anti-interference of sliding mode control,this paper designed an integral sliding mode variable structure controller.Then,in order to suppress the serious " chattering " problem of the newly introduced sliding mode controller itself,the second-order sliding variable structure anti-windup control algorithm is proposed to improve the control performance of the PMSM servo system.Simulation and experiment results proves that the second-order sliding mode controller can not only improve the control accuracy,but also solve the "chattering" problem.Secondly,although the second-order sliding mode controller improves the control performance of the servo system,it is in order to better deal with the unmodeled and unknown disturbances present in the system.In this paper,the second-order sliding mode controller architecture based on the extended state disturbance observer is proposed to realize the control performance optimiz ation of the servo system,and the simulation results prove that the composite control algorithm with perturbation observer has better effect in all the ind icators.Finally,build an experimental platform for permanent magnet synchronous motor speed control system,and the second-order sliding mode controller based on the extended state disturbance observer designed in this paper is experime ntally verified.The experimental results prove that the proposed control al gorithm can not only well restrain the saturation problem existing in the traditional PID controller,but also well suppressed the influence of inductance and resistance on the speed of PMSM.