Speed Tracking Control And Experimental Research For Permanent Magnet Synchronousmotor Based On DSPACE

Permanent magnet synchronous motor(PMSM)has many advantages,such as low loss,high power,and simple structure,so PMSM has been widely used in many fields.In some applications of PMSM,the load torque of the motor is unknown and time-varying,which bring difficulties in the high precision speed tracking control of the motor.This thesis takes the oscillation displacement system of continuous casting mold driven by servo motor as the application background,researches on the speed tracking control system of PMSM with time-varying load disturbance and parameter uncertainties.The proposed algorithms are then simulated and validated on the motor control experimental platform based on d SPACE.Firstly,the motor control experimental platform based on d SPACE is built,including some parts of hardware circuits and software design.The experimental platform provides hardware-in-the-loop simulation experiment for verifying the proposed algorithms.In addition,some motor parameters of the experimental platform are identified.Secondly,an adaptive backstepping sliding mode control algorithm based on extended state observer(ESO)is proposed for the speed tracking system of PMSM,in which there exist mismatched perturbations including parameter uncertainties and disturbances.The ESO is constructed to estimate the unmatched perturbations of system base on hyperbolic tangent function and high gain.The unmatched perturbations can be view as the matched ones to be handled by means of the backstepping technique,and the adaptive integral sliding mode controller is designed to eliminate the influence of the unmatched perturbations.The theoretical analysis shows that the proposed control method can ensure that all of the closed-loop system signals are bounded and the system states can be asymptotically convergent to the origin.Finaly,a non-singular fast terminal sliding mode control(NFTSMC)algorithm based on finite-time convergence ESO is proposed for speed tracking control system of PMSM with mismatched disturbances and uncertain parameters.The finite-time convergence ESO is used to estimate the disturbances in the system,and then the estimate of the disturbances is introduced into the sliding mode controller.The theoretical analysis shows that proposed algorithm can ensure the finite-time stability of the system state.Finally the effectiveness of the proposed algorithm is verified by simulation on MATLAB and experiments on the semi-physical simulation experimental platform based on d SPACE.