CAJ | 학술논문

传统的比例积分微分(proportion integral derivative， PID)控制由于控制方法简单，被广泛应用于永磁同步电机(permanent magnet synchronous motor，PMSM)调速系统当中，但其难以满足高精度的控制要求。传统的滑模控制(sliding mode control，SMC)虽然在一定程度能达到较好的控制效果，但需要对速度信号进行微分，而这一过程会引入高频扰动。为了实现PMSM的高精度控制，该文设计了一种积分型滑模变结构控制器，针对负载扰动的问题，依据龙伯格线性观测器的原理设计了负载转矩观测器，并将其观测值反馈到滑模控制器的设计中。通过仿真及实验可以看出，负载观测器能跟踪实际负载的变化，滑模控制器使系统在负载波动时转速保持不变。因此，基于负载转矩观测器设计的积分型滑模控制器使系统具有快速性、无超调等优点，且对负载扰动具有较强的鲁棒性。
전통적비례적분미분(proportion integral derivative， PID)공제유우공제방법간단，피엄범응용우영자동보전궤(permanent magnet synchronous motor，PMSM)조속계통당중，단기난이만족고정도적공제요구。전통적활모공제(sliding mode control，SMC)수연재일정정도능체도교호적공제효과，단수요대속도신호진행미분，이저일과정회인입고빈우동。위료실현PMSM적고정도공제，해문설계료일충적분형활모변결구공제기，침대부재우동적문제，의거룡백격선성관측기적원리설계료부재전구관측기，병장기관측치반궤도활모공제기적설계중。통과방진급실험가이간출，부재관측기능근종실제부재적변화，활모공제기사계통재부재파동시전속보지불변。인차，기우부재전구관측기설계적적분형활모공제기사계통구유쾌속성、무초조등우점，차대부재우동구유교강적로봉성。
The traditional proportion integral derivative (PID) control is widely used in permanent magnet synchronous motor (PMSM) control systems for its simplicity, but it is difficult to meet the need of high performance. Though the traditional sliding mode control (SMC) has a good performance in a certain extent, it needs the speed differential signals which will cause high frequency disturbances. In order to realize high precision control, this paper designed a kind of integral type sliding mode variable structure controller and a load torque observer. The observer can observe the change of the load torque rapidly. And the sliding mode controller can keep the speed constant. System simulation and experimental results show that the system has the advantages of rapidity, no over-shoot and resistance to load disturbance.