Experimental Research On Adaptive Backstepping And Sliding Mode Auto-disturbance Rejection Control Of Permanent Magnet Synchronous Motors

It has been found that that PMSM(permanent magnet synchronous motor)has a simple structure,high power factor and convenient maintenance,which has been gradually assume the trend of replacing the asynchronous motor in a large range in the field of aerospace and robotics.Therefore,the research on the control algorithm of PMSM servo control system has higher requirements.In order to solve the problem that the starting current of the motor is too large and easy to overshoot and the chattering of the sliding mode control,the PMSM driving system is studied in this paper.Firstly,the research purpose and significance of the subject are described,and the research status of PMSM servo drive system and control algorithm at home and abroad are introduced.Then the general mathematical model of PMSM and the coordinate changes are elaborated,and the space vector pulse width modulation(SVPWM)is simply analyzed and interpreted.The vector control principle and realization method of PMSM are explained in detail.Secondly,an adaptive backstepping sliding mode speed servo control system for PMSM is designed.Firstly,on the basis of vector control,the rotating speed loop and the current loop are improved respectively.In the current loop,integral sliding mode control method is adopted,and the approach law is improved to weaken the chattering effect.In addition,a load torque observer is designed to observe the change of load torque,which further enhances the anti-interference ability of the system.Finally,the effectiveness of the designed control scheme is proved by simulation experiments.Thirdly,in order to further enhance the interference rejection capability,a coordination control strategy of PMSM linear auto-immunity and sliding mode method is designed.First of all,this chapter on the immunity control(the active disturbance rejection control,ADRC)principle has carried on the simple introduction.Then,two coordination functions with error and time as independent variables are emphatically considered.Through the simulation comparison of two different coordination strategies,the characteristics of the two coordination strategies and the adjustment range of coordination parameters are summarized and analyzed.Finally,the simulation results show the effectiveness of the proposed scheme.Fourthly,in order to ensure the good characteristics of the permanent magnet synchronous motor drive system and achieve the purpose of minimum energy loss,the design of the PMSM drive system under the minimum loss model of the ADRC.Firstly,the controllable loss model of the permanent magnet synchronous motor considering the iron loss resistance is obtained by analyzing the motor principle,and the current relationship of the orthogonal axis is further calculated.Then the NLADRC and LADRC double loop control are obtained through the change of ADRC structure.Finally,the load torque observer is designed and feed-forward control is carried out,and the load torque feed-forward ADRC controller based on the minimum loss model is obtained.Through simulation analysis,the problem that the starting current of the motor is too large and easy to overshoot is solved,and the energy loss of the motor is also reduced.Fifth,in order to verify the effectiveness and feasibility of the above scheme,sliding mode control experiment,LADRC experiment,NLADRC experiment,sliding mode and LADRC experiment were conducted on the PMSM experimental platform.The effectiveness of the proposed scheme is verified by the comparative analysis and summary of the experimental results,the experimental phenomena are analyzed,and the law of parameter adjustment for coordination is given,which is of practical significance to the future research on coordination control.In summary,in order to solve the problem that the starting current of the motor is too large and easy to overshoot,this paper solves the problem of excessive control of the starting current and overshoot by the research and improvement of the sliding mode control and ADRC,and the attempt of coordinated control of the two methods.This improvement not only ensures the good dynamic and steady-state characteristics of the permanent magnet synchronous motor,but also strengthens the anti-interference ability of the servo system,so that the servo system can maintain good performance in harsh environments.