Research On Position Control Of Permanent Magnet Synchronous Motor Based On Fractional Order Sliding Mode

Permanent magnet synchronous motor(PMSM)is a motor commonly used in position servo control of CNC machine tools,robots,aerospace and other fields,which has the advantages of simple structure,reliable performance,fast response,high control precision and high efficiency.With the deepening of industrial applications represented by high-end manufacturing and the rapid development of artificial intelligence,semiconductor materials,it is hoped that the dynamic performance,steady-state performance and robustness of a permanent magnet synchronous motor servo control system can meet increasingly stringent performance requirements.However,there is a contradiction between the traditional position servo control algorithm with relatively backward performance and the expectation.The core of this thesisis aimed at finding a position closed-loop control algorithm to adapt to the needs of the new era of industrial production and development represented by Made in China 2025,which is superior to the traditional control algorithm in control effect,striving for feasibility in the implementation of the algorithm,and conducive to the promotion of various types of position servo control.Therefore,it has important significance in both theoretical research and engineering practice.The development history,research status and the mechanical structure of PMSM are introduced in this thesis.The dynamic mathematical model of the motor is given according to the operating principle and the basic electromagnetic relationship.Facing increasingly complex conditions,traditional position closed-loop control algorithms has room for improvement in dynamic performance,steady-state performance,and robustness.So the fractional order calculus is introduced into the traditional sliding mode control algorithm,and a fractional sliding mode control algorithm is designed and applied to the position loop controller of PMSM position servo system.In this thesis,the load observer is used to feed forward the disturbance for the problem of the influence of unknown load disturbance,and to ensure the position tracking accuracy,and to improve the anti-disturbance performance of the system.To verify the effectiveness of the proposed algorithm,the simulation model of PMSM position control system is built in Matlab/Simulink environment.The simulation is verified and the simulation results are analyzed.At the same time,a system experiment platform is built,which for verifying various control algorithms.And also the experimental results are analyzed.The simulation results and the experimental results show that the fractional-order sliding mode algorithm proposed in this thesis is effective when applied to position control systems,and the dynamic performance and steady-state performance of the system show some advantages.