| permanent magnet synchronous motor?PMSM?has been widely applied to areas such as manufacturing,new energy vehicles and household appliances,owing to its advantages such as compact structure,high efficiency,high moment inertia and high power density.Because PMSM is a kind of multi-variable,strong coupling and non-linear model,when there are uncertainties such as parameters perturbation or load disturbance in the speed regulation system,the conventional vector control will be difficult to meet the high performance control requirements of the system,some advanced control strategies are widely used in PMSM speed regulation system.In order to improve the problem that the robustness and dynamic performances of PMSM speed regulation system with uncertainties used conventional PI controller are not desired,the following related contents are studied in this thesis:Chapter 1 and 2 mainly introduce the research status of advanced control methods of PMSM speed regulation system at home and abroad and the basic theory of vector control.Chapter 3 proposed the H? robust shaping current control algorithm of the surface permanent magnet synchronous motor?SPMSM?speed regulating system based on the sliding mode speed control with an extended state observer?ESO?.Firstly,take advantage of the asymptotic stability character of the dissipative system without disturbance factors,a robust shaping current controller based on Port Controlled Hamiltonian with Dissipation?PCHD?model is designed to enhance the robustness of current control.In addition,through the damping configuration of the shaping controller,the fast convergence is realized which guaranteed the fast tracking speed of the currents.Secondly,on this basis,for the sake of further improve the robustness of the system to uncertain factors such as load disturbance,the ESO based sliding mode speed control strategy is designed through which the desired current in q-axis qi?9?is provided,then the double closed loop control structure is constructed.Finally,the effectiveness and availability of the control strategy are verified by simulation and the hardware-in-the-loop?HIL?simulation experiment.Chapter 4 presented a robust H? sliding mode control strategy of the PMSM speed regulation system based on linear matrix inequality?LMI?.Firstly,the LMI based H? state feedback controller gain in the extended state space expression of the SPMSM motion equation is designed and composes the sliding surface.Furthermore,the sliding mode control law is designed,then the robust H? sliding mode speed controller is acquired which ensures the robust stability and H? disturbance attenuation level of the system.Secondly,the sliding surface and the sliding mode control law with the adoption of the adaptive identification of the comprehensive term??which eliminates the conservatism of sliding mode gain selection in the extended state space expression of the current equation are devised in the same way.Then the robust H? adaptive sliding mode current controller is obtained.Finally,the effectiveness and availability of the proposed algorithm are verified by simulation and the HIL simulation experiment.Chapter 5 put forward the H? robust control strategy of the PMSM speed regulation system base on PCHD/error model.Firstly,convert the Mathematical Model of PMSM into PCHD Model,which makes the speed control system have the stability robustness without considering disturbance factors.On this basis,take the disturbance factors into consideration,the H? robust current controller based on HJI is presented,which removed the shaping control term and simplified the structure of controller.Secondly,the mathematical model of PMSM is transformed into the state space expression error model,then the HJI based H? robust current controller is designed considering disturbance factors,which simplifies the acquiring process of the controller and achieves the performance robustness of current control.Furthermore,the proof of stability robustness is given.Finally,the effectiveness and availability of the control strategy are verified by simulation and the HIL simulation experiment.Chapter 6 summarizes the work done in this thesis,and points out the shortcomings in the thesis writing and the research direction of next step. |
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