Adaptive Switching Gain Complementary Sliding Mode Control For Speed Regulation In PMSM

With the development of control technology and power electronics technology in the field of the servo control,the AC servo control technology is widely used in daily life and industrial production.However,in the practical application,there are many different types of disturbances in the servo control system,which will degrade control performance of servo system,such as the parameter perturbations of the control system,the change of load and other uncertainty external disturbance,etc.In order to suppress uncertainties caused by parameteric variations and disturbances,improve the robustness and the resistivity against load disturbances of control system and the performance of current loop,an adaptive complementary sliding mode control is proposed for the speed regulation in permanent magnet synchronous motor(PMSM).First of all,this paper discusses the background and the significance of the research,describes the physical and mathematical model of PMSM.Building MATLAB/Simulink simulation model of the control system according to the d-q coordinate system mathematical model of PMSM and the basic principle of the vector control.The effects of system parameters perturbation and load change on the system performance are compared and analyzed.Secondly,this paper introduces a complementary sliding mode control(CSMC)system with the strong robustness of the sliding mode variable structure control.The principle and mathematical description of the CSMC are described in detail,and it is proved that the CSMC has smaller steady-state error compared to the traditional sliding mode control.A CSMC speed controller is designed for the speed loop of PMSM,and the stability of the control system is proved.In view of the system load disturbance,the observer is designed to observe the load accurately.Simulation results show that the complementary sliding mode control system has a strong inhibitory effect on the uncertain factors such as parameter variation and load variation.A new adaptive law is designed to adjust the switching gain according to the uncertainty.When the value of sliding variables is outside the boundary layer,the adaptive law is set to be positive and the switching gain is increasing.Conversely,the law is set to be negative and the gain is decreasing,monotonically.Further,The new adaptive law considers an arbitrarily small vicinity of the sliding manifold,in which the adaptive law are inversely proportional to the sliding variables.Such an adaptive law provides remarkably fast adaptation and chattering reduction near the sliding manifold.Finally,the proposed control method is used in the PMSM experimental platform using TMS320F8212 DSP and the control program is done using C language.the PMSM experimental platform using the proposed control method to take TMS3201F8212 DSP as the core,C language control program.,Experimental verification and comparative analysis have completed to verify the performance of the proposed algorithm in the real system.The results show that the proposed control method can greatly weaken the high frequency chattering and improve the performance of the current loop in the servo system.