| The control system which uses permanent magnet synchronous motor (PMSM) and adopts high-performance control strategy has now become a trend of electric drive control system. However, PMSM is a nonlinear, time varying and multiple variables object, and the control system is often influenced by uncertainties which are induced by parameter variations, external load disturbances, unmodelled plants and nonlinear dynamics. In order to obtain PMSM control system with high performance, advanced control schemes have to be developed to deal with these uncertainties. Recently, how to enhance control system performance and reduce costs have been studied, some advanced nonlinear control strategies have been proposed and new results are obtained correspondingly. However, for PMSM control system, a single nonlinear method is only applicable to solving a certain problem. Therefore, the major research topic of this dissertation is to seek a valid integrated nonlinear control technique for PMSM control system. This dissertation relies on the Research of Energy Saving Technology of Electrical Driven and Control System (Project NO. is2006AA04Z183), which is supported by National High Technology Development Plan. In this dissertation, speed control, position control, as well as sensorless control schemes of PMSM control system have been studied in details. The aim of this dissertation is to construct PMSM control system with good flexibility, reliability, and robustness.The main research work is as follows:1. The passive-based control method could simplify controller design and make system stability analysis easier, controller is designed from the energy point of view. By considering such characteristics and adopting interconnection and damping assignment passivity-based control method, a novel passive-based sliding mode control method is proposed for the speed sensorless control system of surface permanent magnet synchronous motor(SPMSM) based on the port-controlled Hamiltonian system with dissipation(PCHD). The sliding mode controller is adopted for outer loop control, while in the inner loop, passivity-based control is adopted, a sliding mode observer is adopted to estimate the speed. The simulation results illustrate the effectiveness of the proposed strategies.2. In order to solve the chattering problem in sliding mode control and improve robustness while ensuring stability of systems, a novel adaptive fuzzy sliding mode soft switch controller for PMSM by using robust Passivity-based control method is proposed based on speed calculated. The adaptive fuzzy sliding mode soft switch controller is designed by using sgn(x) function instead of tanh(x) function, which achieves the soft switch control and reduces chatting. A robust passivity-based control algorithm is constructed based on the passivity-based control principle, and the robustness is improved correspondingly. An adaptive sliding mode observer is established and a speed identification law is proposed. The simulation results verified the effectiveness of the strategies.3. In order to estimate the real-time values of unknown state and uncertain interference item for the speed control system, and achieve feed-forward compensation to improve the anti-disturbance ability of the speed control system, two novel PMSM speed control methods by using the integrated nonlinear approach with extended state observer are proposed. For the sliding mode control, the entire system perturbations must be within a certain range which is combined with the overall control effect. One method is to design an adaptive sliding mode control strategy based on ESO compensation, whose speed loop adopts a adaptive sliding mode controller, and ESO is used to observe system interference and makes feed-forward compensation, current loop adopts the integration control strategy which is supplemented by the passive control based on auto-disturbance rejection control technology. Because inverse control system isn’t satisfied with the fast changing external disturbance rejection, another method is to build complex adaptive inverse integrated controller based on ESO compensation, which implements the current and speed decoupling control effectively. The simulation verified the effectiveness of two strategies.4. To ensure rapidity, accuracy, non-overshoot for the PMSM position control system, the three-loop position control system is designed in accordance with the dual-loop system. The active disturbance rejection control strategy of first-order system is adopted to construct a position of outer loop, and the adaptive back stepping method is used to construct the three loop system of velocity loop and current loop. The robustness is improved and the accuracy of speed control is ensured. For the three loop position servo system, simulation is given to show the effectiveness of the proposed control strategies.5. To solve the rotor position self-sensing, a novel method is put forward by combining the fluctuating high frequency voltage signal injection method (FHFVS) and model reference adaptive system method(MRAS), which is used in the SVPWM id=0vector control system and optimal torque control system. The speed-switcher is designed to realize smooth switching between two methods. The presented method can guarantee satisfactory balance between steady and dynamic states, which cannot be obtained by each of the methods. Simulations verified the effectiveness of two strategies.6. Based on the Research of Energy Saving Technology of Electrical Driven and Control System, the id=0vector control speed system experimental platform with22kW permanent magnet synchronous motor has been set up. The network-based integrated automated test unit is introduced. Experiments show that the performance index of system can be achieved. |
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