Research On Complementary Sliding Mode Control Of Five-Phase Permanent Magnet Synchronous Motor Position Servo Drive

The electromechanical position servo system is an important part of the automatic gun turret system,which determines the accuracy and rapidity of artillery fire strikes.Compared with the three-phase permanent magnet synchronous motor,the multi-phase permanent magnet synchronous motor has the advantages of high reliability and high torque density,which can better meet the high reliability requirements of the gun turret.In this paper,a five-phase permanent magnet synchronous motor(PMSM)is taken as an example.In view of the fact that the motor position servo system is easily affected by uncertain factors such as external load disturbances and parameter changes in the actual operation process.By introducing the method of adaptive law and the method of designing sliding mode state observer,the adaptive complementary sliding mode control strategy(ACSMC)and the adaptive complementary sliding mode control strategy based on the sliding mode state observer(SMSO-ACSMC)are proposed.These strategies can effectively improve the position tracking performance,dynamic performance and anti-interference performance of the motor position servo system.The main research contents of this paper are as follows:(1)The basic structure of the five-phase PMSM is briefly analyzed,the mathematical model of the PMSM in the natural coordinate system and the synchronous rotating coordinate system is established.Build a PMSM position servo system based on vector control.Through the analysis of the uncertain factors in the position servo system,the mathematical model of the motor with uncertain factors is established.(2)Based on sliding mode control(SMC).By adding a complementary sliding mode surface,a complementary sliding mode control(CSMC)strategy is designed for the PMSM position servo system,which effectively improves the position tracking accuracy.In order to further improve the position tracking accuracy and high dynamic performance of the motor position servo system.The adaptive law is introduced in the complementary sliding mode switching control and no integral action is adopted in the equivalent control,the ACSMC strategy is proposed.(3)In order to solve PMSM affected by uncertain factors and reduce the anti-disturbance performance of position servo system.Based on the idea of state observer,a sliding mode state observer(SMSO)is designed to observe the uncertain disturbance of the position servo system.Its feed-forward compensation is incorporated into the ACSMC strategy,the SMSO-ACSMC strategy is proposed to ensure the position servo system has anti-disturbance performance of to uncertain factors.(4)A five-phase PMSM control system experiment platform is built.On this platform,the relevant experiments of the ACSMC and SMSO-ACSMC strategies proposed in this paper were completed.Compared with the SMC and CSMC strategies,the feasibility of the proposed position control strategy are verified.