CAJ | 학술논문

为了解决PI控制器在永磁同步电机伺服控制中自适应和鲁棒性差等问题，采用了全鲁棒滑模控制方法设计了永磁同步电机伺服系统的位置控制器，提出了带有指数函数的时变滑模面，采用极点配置的方法设计滑模面参数，并推导了控制律。为了削弱控制系统抖振，采用连续函数替代符号函数。通过与PI位置控制器的伺服控制系统进行仿真比较。结果表明，所设计的全鲁棒滑模控制器对不确定外加干扰和系统结构参数变化具有较强的鲁棒性，且响应速度快、稳态误差小。
위료해결PI공제기재영자동보전궤사복공제중자괄응화로봉성차등문제，채용료전로봉활모공제방법설계료영자동보전궤사복계통적위치공제기，제출료대유지수함수적시변활모면，채용겁점배치적방법설계활모면삼수，병추도료공제률。위료삭약공제계통두진，채용련속함수체대부호함수。통과여PI위치공제기적사복공제계통진행방진비교。결과표명，소설계적전로봉활모공제기대불학정외가간우화계통결구삼수변화구유교강적로봉성，차향응속도쾌、은태오차소。
In order to solve the problem of adaptive and robust of the PI controller in PMSM servo control, the position controller of servo system of the permanent magnet synchronous motor was designed using the fully robust sliding mode control method. The time varying sliding surface with exponen-tial function was proposed, the pole placement method was adopted in the design of the sliding surface parameters and the control law was deduced. In order to weaken the chattering of the control system, continuous function was adopted to replace the sign function. By comparison with the PI position controller for servo control system, The results showed that the fully robust sliding mode controller has strong robustness for uncertainty external interference and system structure parameters chang, the response speed was faster and steady-state error was smaller.