Sliding Mode Feedforward Control and Disturbance Suppression for PMSM Based on Full Parameters Adaptive Smith Predictor Compensation

doi:10.12382/bgxb.2022.0624

Abstract

Abstract:

In the control system of permanent magnet synchronous motor (PMSM), the delay effect of inverter has an affect on the stability of control system. Smith predictor compensator can be introduced to compensate the influence of delay link on system performace, but it is usually under the ideal assumption that the delay time and the model parameters of the plant are known and accurate, which is not in line with the actual situation. A time-varying model-based adaptive method is proposed to adaptively estimate the delay time and the model parameters of the plant, respectively, so as to realize the full parameters adaptation of Smith predictor compensator. In order to ensure the global stability of control system, reduce the sensitivity of system to parameter uncertainty and improvthe disturbance suppression, a sliding mode feedforward controller based on the advanced value prediction of position output and the sliding mode feedforward controller of disturbance suppression is designed, which is combined with the full parameter adaptive Smith predictive compensation control. Simulated results show that, compared with traditional and many improved Smith prediction compensation methods, the proposed method has high stability and tracking accuracy, and is still robust to parameter uncertainty and random disturbance even under non-ideal conditions.

Key words: permanent magnet synchronous motor, Smith predictor compensation, full parameters adaptive estimation, leading value prediction of position output, sliding mode feedforward control

CLC Number:

TP13

ZHU Qixin, WANG Jiaqi, ZHU Yonghong. Sliding Mode Feedforward Control and Disturbance Suppression for PMSM Based on Full Parameters Adaptive Smith Predictor Compensation[J]. Acta Armamentarii, 2024, 45(2): 417-428.

Figures/Tables 24

Fig.1 Structure block diagram of PMSM simplified mathematical model

Fig.2 Schematic diagram of ideal Smith predictive compensation structure

Fig.3 Schematic diagram of delay time estimation structure

Fig.4 Delay time estimation curve

Fig.5 Structural schematic diagram of model parameter estimation of controlled object

Fig.6 Schematic diagram of full parameters adaptive Smith predictive compensation structure

Fig.7 Comparison between predicted position advanced value and actual position output

Fig.8 Comparison of predicted effects of position advanced values before and after compensation

Fig.9 Comparison of predicted errors of position advanced values after multiple compensation

Fig.10 Schematic diagram of FPASPC+SMFC structure

Table 1 Model and controller parameters

参数	数值	参数	数值
L/H	0.01869	R/Ω	4.78
J/(kg·m²)	0.57	B/(N·s·m^-1)	0.0065
K_t/(N·m·A^-1)	1.6	K_e(V·s·m^-1)	1.6
τ/s	0.02	K_p	30
k_τ	500	k_ω	100
μ₁	100	μ₂	350
c	5	k	5
d₀方差	50	D	50

Fig.11 Estimated effect diagram of model parameter K

Fig.12 Estimated effect diagram of model parameter α

Fig.13 Predicted effect diagram of position advanced value

Fig.14 Comparison of position responses of FPASPC+SMFC and TSPC

Fig.15 Fig.15 Comparison of position response errors of FPASPC+SMFC and TSPC

Fig.16 Comparison of position responses of FPASPC+SMFC and TSPC+DFRA

Fig.17 Comparison of position response errors of FPASPC+SMFC and TSPC+DFRA

Fig.18 Comparison of position responses of FPASPC+SMFC and TSPC+MRAC

Fig.19 Comparison of position response errors of FPASPC+SMFC and TSPC+MRAC

Fig.20 Comparison of position responses of FPASPC+SMFC and ISPC+ADC

Fig.21 Comparison of position response errors of FPASPC+SMFC and ISPC+ADC

Fig.22 Comparison of position responses of FPASPC+SMFC and ASPTDCC

Fig.23 Comparison of position response error between FPASPC+SMFC and ASPTDCC

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