Fractional Order Sliding Mode Composite Control Of Permanent Magnnet Synchronous Motor Based On GPIO

The permanent magnet synchronous motor(PMSM)is widely used in industry,power generation,military,transportation and other fields due to significant advantages such as simple structure,low noise,high cost performance and low rotational inertia.Sliding mode variable structure control is widely used in the field of PMSM control due to its excellent control performance.However,the PMSM is a complex non-linear system,so it is vital to investigate new sliding mode control techniques.The fractional order sliding mode control(FSMC)technology further improves the performance of the control system while inheriting the advantages of sliding mode control(SMC)technology.So it provides a new research direction for the PMSM sliding mode control system.This paper investigates the control system design of the PMSM by combining the fractional order sliding mode control algorithm and the generalised proportional integral observer(GPIO).(1)Firstly,the mathematical model of a PMSM is constructed.Meanwhile,the principle and realization of coordinate transformation and SVPWM technology in vector control are analyzed in detail and the vector control theory is introduced in detail.A fractional order sliding mode controller is designed for the speed loop,which takes advantage of the insensitivity of the fractional order calculus to time variations.It enhances the robustness and immunity of the system and effectively reduce the system chattering.The Simulink model of the PMSM control system is built in MATLAB software,and the results show that the proposed fractional order sliding mode control algorithm is feasible and effective.(2)Then,a generalised proportional integral observer is proposed for the problem of parameter perturbation and load disturbance in the operation of the PMSM.The generalised proportional integral observer for the PMSM is derived based on the theory of expanding the extened state observer(ESO)to higher orders and the specific model of a PMSM.The observer and the fractional sliding mode controller are combined to form a composite controller.The generalised proportional integral observer is used to estimate the system lumped disturbance,and the observed value is converted into a current according to the designed control law,which effectively suppresses the disturbance by means of feedforward compensation.The Simulink model of the composite controller is built in MATLAB software,and the results show that the composite controller proposed in this paper is feasible and effective.(3)Finally,a PMSM servo experimental platform is built by the TI company’s TMS320F28379 D chip and DRV8305 chip.The design of the platform is presented in terms of both hardware and software respectively.The hardware section includes the design of the control circuit and drive circuit.The software section includes the design of the debug model,the burn model and the data acquisition model.Based on the above experimental platform for experimental verification,comparing the experimental control effects of different algorithms,the analysis results show that the experimental platform is realistic and reliable,and the control algorithm proposed in this paper is feasible and effective.