Adaptive Robust Control Of Permanent Magnet Synchronous Motor Based On State Observer

The PMSM speed control system is a nonlinear strong coupling system.The perturbation of the parameters of the motor with the change of the external environment is not negligible,and the disturbance caused by some uncertain factors(the change of load torque and the influence of unmodeled dynamics)makes the actual performance of the control system less than ideal.Therefore,it is urgent to study the robust control of PMSM speed control system under complex disturbances.This paper first expounds the development history of PMSM and the research status of the speed control system at home and abroad.Then the mechanical structure of PMSM is introduced and its mathematical model is given.The vector control method of PMSM is introduced.Then,aiming at the problem of rotor inertia uncertainty and parameters disturbance of the PMSM control system,this paper proposes speed control method using an adaptive backstepping strategy for the PMSM based on parameter identification.Firstly,an online identification method of rotor inertia based on disturbance observer is designed.To solve the problem of the parameters disturbance,combined with the identified rotor inertia,the load torque adaptive law and backstepping control law are designed according to the Lyapunov stability theoremFurther,aiming at the problem of uncertain parameters of PMSM,this paper proposes an adaptive backstepping sliding-mode control method with reducing chattering based on extended state observer(ESO).Firstly,in order to compensate for the disturbance caused by the parameters uncertainties and external disturbance in the velocity equation,a velocity loop ESO is established to improve the design accuracy of the virtual control law in the backstepping derivation process.Further,for the purpose of weakening the chattering of the sliding-mode control,the current loop ESO is designed.The current loop ESO not only suppresses the influence of the parameters uncertainties but also weakens the sliding-mode chattering.Finally,the backstepping sliding-mode control law is given according to the Lyapunov stability theoremFinally,a 1.3KW PMSM is used as the control object on dSPACE-based semi-physical simulation platform.The experiment of adaptive backstepping speed control of PMSM based on rotor inertia identification and the experiment of weak chattering adaptive sliding-mode backstepping control based on ESO are carried out respectively.The experimental result of the proposed method in this paper is realized which prove the stability and effectiveness.