基于跟踪微分器的永磁同步电动机双时间尺度滑模控制

doi:10.16183/j.cnki.jsjtu.2023.482

上海交通大学学报 ›› 2025, Vol. 59 ›› Issue (9): 1249-1259.doi: 10.16183/j.cnki.jsjtu.2023.482

• 新型电力系统与综合能源 • 上一篇下一篇

基于跟踪微分器的永磁同步电动机双时间尺度滑模控制

车志远, 余海涛(), 庞玉毅, 章嘉辉

东南大学电气工程学院, 南京 210096

收稿日期:2023-09-21 修回日期:2023-11-05 接受日期:2023-11-24 出版日期:2025-09-28 发布日期:2025-09-25
通讯作者: 余海涛,教授,博士生导师;E-mail:htyu@seu.edu.cn.
作者简介:车志远(1993—),博士生,现主要从事滑模控制理论与应用研究.
基金资助:
国家自然科学基金(41576096);国家自然科学基金(42176211);中央高校基本科研业务费项目(3216002104D)

Tracking Differentiator-Based Dual-Time-Scale Sliding Mode Control for Permanent Magnet Synchronous Motor

CHE Zhiyuan, YU Haitao(), PANG Yuyi, ZHANG Jiahui

School of Electrical Engineering, Southeast University, Nanjing 210096, China

Received:2023-09-21 Revised:2023-11-05 Accepted:2023-11-24 Online:2025-09-28 Published:2025-09-25

摘要/Abstract

摘要：

永磁同步电动机的电流响应远快于机械动态,因此提出一种基于跟踪微分器的双时间尺度滑模控制方法.首先,在两相同步旋转正交坐标系上建立数学模型,并基于准稳态理论得到快慢子系统.其次,为了解决传统指数趋近律中趋近速度与抖振现象相互矛盾的问题,引入一种新型趋近律,并对其能达时间和切换带进行对比分析.然后,在双时间尺度内分别设计控制律,构建基于跟踪微分器的复合非级联滑模控制器.最后,通过仿真对比和实验结果验证方法的优势和有效性.研究结果表明,该控制策略能实现无超调跟踪,且伺服系统的动态响应迅速;在永磁同步电动机发生反转和受到外部负载扰动时,控制系统仍具有良好的动态性能和较强的鲁棒性.

关键词: 永磁同步电动机, 双时间尺度, 跟踪微分器, 滑模控制, 趋近律

Abstract:

Due to the much faster response time of permanent magnet synchronous motor (PMSM) compared to mechanical dynamics, a tracking differentiator (TD)-based dual-time-scale sliding mode control (SMC) method is proposed. First, the mathematical model is established in a two-phase synchronous rotating orthogonal reference coordinate system, and the fast and slow subsystems are then derived based on the quasi-steady-state theory. To address the conflict between reaching velocity and chattering phenomenon existing in the traditional exponential reaching law, a novel reaching law is introduced, allowing for a comparison and analysis of the reaching-time and switching-band. Next, the SMC laws are separately designed within a dual-time scale, thus resulting in the eventual TD-based composite non-cascade sliding mode controller. Finally, the advantages and effectiveness of the proposed methods are demonstrated through the simulation comparisons and experimental results. The results illustrate that the proposed control strategy can realize tracking without any overshoot, ensuring a fast dynamic response procedure in the servo system. The control system has the perfect dynamic performance when the PMSM operates in the reverse direction, and possesses strong robustness against the external load disturbances.

Key words: permanent magnet synchronous motor (PMSM), dual-time-scale, tracking differentiator (TD), sliding mode control (SMC), reaching law

中图分类号:

TP273

车志远, 余海涛, 庞玉毅, 章嘉辉. 基于跟踪微分器的永磁同步电动机双时间尺度滑模控制[J]. 上海交通大学学报, 2025, 59(9): 1249-1259.

CHE Zhiyuan, YU Haitao, PANG Yuyi, ZHANG Jiahui. Tracking Differentiator-Based Dual-Time-Scale Sliding Mode Control for Permanent Magnet Synchronous Motor[J]. Journal of Shanghai Jiao Tong University, 2025, 59(9): 1249-1259.

图/表 16

图1

图2

图3

表1

图4

图5

图6

图7

表2

图8

图9

表3

图10

图11

图12

图13

参考文献 14

[1]	YANG C Y, CHE Z Y, ZHOU L N. Composite feedforward compensation for force ripple in permanent magnet linear synchronous motors[J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(6): 782-788. doi: 10.1007/s12204-019-2111-5
[2]	凌辉, 杜钦君, 冯晗, 等. 基于五电平变换器的开关磁阻电动机转矩脉动抑制方法[J]. 上海交通大学学报, 2022, 56(12): 1608-1618. doi: 10.16183/j.cnki.jsjtu.2022.124
	LING Hui, DU Qinjun, FENG Han, et al. Torque ripple reduction method of switched reluctance motor based on five-level converter[J]. Journal of Shanghai Jiao Tong University, 2022, 56(12): 1608-1618.
[3]	YU K L, WANG Z. Position sensorless control of IPMSM using adjustable frequency setting square-wave voltage injection[J]. IEEE Transactions on Power Electronics, 2022, 37(11): 12973-12979.
[4]	张显库, 韩旭. 大型油轮艏摇混沌现象的仿真与滑模控制[J]. 上海交通大学学报, 2021, 55(1): 40-47. doi: 10.16183/j.cnki.jsjtu.2019.104
	ZHANG Xianku, HAN Xu. Modeling and sliding mode control for chaotic yawing phenomenon of large oil tanker[J]. Journal of Shanghai Jiao Tong University, 2021, 55(1): 40-47.
[5]	YANG C Y, CHE Z Y, ZHOU L N. Integral sliding mode control for singularly perturbed systems with mismatched disturbances[J]. Circuits, Systems, and Signal Processing, 2019, 38(4): 1561-1582.
[6]	周齐贤, 王寅, 孙学安. 基于增益自适应超螺旋滑模理论的无人机控制[J]. 上海交通大学学报, 2022, 56(11): 1453-1460. doi: 10.16183/j.cnki.jsjtu.2022.238
	ZHOU Qixian, WANG Yin, SUN Xuean. Control of unmanned aerial vehicle based on gain adaptive super-twisting sliding mode theory[J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1453-1460.
[7]	柯少兴, 李建贵, 郝诚, 等. 基于滑模观测器估计误差反馈的永磁同步电机转速控制策略[J]. 微电机, 2020, 53(6): 48-52.
	KE Shaoxing, LI Jiangui, HAO Cheng, et al. Speed control strategy of PMSM based on estimation error feedback of synovial mode observer[J]. Micromotors, 2020, 53(6): 48-52.
[8]	刘京, 李洪文, 邓永停. 基于新型趋近律和扰动观测器的永磁同步电机滑模控制[J]. 工程科学学报, 2017, 39(6): 933-944.
	LIU Jing, LI Hongwen, DENG Yongting. PMSM sliding-mode control based on novel reaching law and disturbance observer[J]. Chinese Journal of Engineering, 2017, 39(6): 933-944.
[9]	淡宁, 袁宇浩, 冯进. 基于快速STA与扰动观测器的PMSM滑模控制[J]. 计算机仿真, 2020, 37(10): 173-178.
	DAN Ning, YUAN Yuhao, FENG Jin. Sliding mode control of PMSM based on fast STA and disturbance observer[J]. Computer Simulation, 2020, 37(10): 173-178.
[10]	XU B, ZHANG L, JI W. Improved non-singular fast terminal sliding mode control with disturbance observer for PMSM drives[J]. IEEE Transactions on Transportation Electrification, 2021, 7(4): 2753-2762.
[11]	CHE Z Y, YU H T, MOBAYEN S, et al. A singular perturbation approach-based non-cascade sliding mode control for surface-mounted PMSMs[J]. Applied Sciences, 2022, 12(20): 10500.
[12]	CHE Z Y, YU H T, MOBAYEN S, et al. Dual-time-scale sliding mode control for surface-mounted permanent magnet synchronous motors[J]. Symmetry, 2022, 14(9): 1835.
[13]	ZHOU L N, SHEN L P, YANG C Y. Disturbance-observer based sliding mode control for fuzzy singularly perturbed systems[J]. Journal of Intelligent & Fuzzy Systems, 2019, 37(1): 1055-1064.
[14]	YOO H, GAJIC Z. New designs of linear observers and observer-based controllers for singularly perturbed linear systems[J]. IEEE Transactions on Automatic Control, 2018, 63(11): 3904-3911.

参数	数值
p_n	4
R/Ω	0.454
L/mH	4.492
ψ/Wb	0.1435
F	3.79×10^-3
J/(kg·m²)	2.77×10^-3

控制策略	超调量/ (rad·s^-1)	调节时间/s	跌落值(实际值)/ (rad·s^-1)	恢复时间 (实际值)/s
SMC	3.2	0.12	9.1(40.9)	0.12(0.62)
TD-SMC	-	< 0.1	0.5(49.5)	<0.04(<0.54)

参数	数值	参数	数值
c_s	60	δ	1000
k_sn	0.1	k_T	10
ξ	0.05	σ	1.5
μ	0.1	k_m	300

基于跟踪微分器的永磁同步电动机双时间尺度滑模控制

Tracking Differentiator-Based Dual-Time-Scale Sliding Mode Control for Permanent Magnet Synchronous Motor

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 16

参考文献 14

相关文章 15

编辑推荐

Metrics

本文评价

[1]	栗大林, 华浩, 李然, 许少伦, 齐文娟. 高功率密度表嵌式磁极偏移永磁电动机转矩性能提升[J]. 上海交通大学学报, 2025, 59(9): 1237-1248.
[2]	黄自鑫, 于澄嵩, 汪伟, 林梦颖, 徐达. 基于等价输入干扰误差估计的欠驱动脉宽调制整流器自抗扰控制[J]. 上海交通大学学报, 2025, 59(8): 1203-1215.
[3]	皇金锋, 章乾. 基于超螺旋扩张状态观测器的耦合单电感双输出Buck变换器串级滑模解耦控制[J]. 上海交通大学学报, 2025, 59(5): 592-604.
[4]	刘新宇, 王森, 曾龙, 原绍恒, 郝正航, 逯芯妍. 双馈风电场抑制电网低频振荡的自适应附加控制策略[J]. 上海交通大学学报, 2023, 57(9): 1156-1164.
[5]	李梦璇, 郭建国, 许新鹏, 沈昱恒. 基于近端策略优化的制导律设计[J]. 空天防御, 2023, 6(4): 51-57.
[6]	李庆波, 方泽远, 陈国良, 梅志伟, 杨婷. 基于跟踪微分器的捷联导引头解耦算法研究[J]. 空天防御, 2021, 4(4): 44-49.
[7]	王家琪, 郭建国, 郭宗易, 赵斌. 基于干扰观测器的高马赫数飞行器滑模控制[J]. 空天防御, 2021, 4(3): 85-91.
[8]	张显库, 韩旭. 大型油轮艏摇混沌现象的仿真与滑模控制[J]. 上海交通大学学报, 2021, 55(1): 40-47.
[9]	刘邱, 赵东亚. 单输入单输出系统离散积分滑模预测控制[J]. 上海交通大学学报, 2020, 54(9): 898-903.
[10]	贺宏伟, 邹早建, 曾智华. 欠驱动水面船舶的自适应神经网络-滑模路径跟随控制[J]. 上海交通大学学报, 2020, 54(9): 890-897.
[11]	梅蓉. 森林环境下的无人直升机安全飞行控制[J]. 上海交通大学学报, 2020, 54(9): 994-999.
[12]	刘悦, 张佳梁, 赵利娟, 甄子洋. 基于二阶滑模控制的多导弹协同制导律研究[J]. 空天防御, 2020, 3(3): 83-88.
[13]	赵斌, 黄晓阳, 周军, 郭玥. 基于滑模控制的多弹分布式视线协同制导律设计[J]. 空天防御, 2020, 3(3): 16-23.
[14]	张晓宇, 张鹏, 郑鑫, 倪元华. 基于固定时间收敛的终端角约束滑模制导律设计[J]. 空天防御, 2020, 3(3): 9-15.
[15]	岳才成1，钱林方1，徐亚栋1，李颖2. 基于指数趋近律链传动弹仓自适应模糊滑模控制[J]. 上海交通大学学报, 2018, 52(6): 750-756.