表面式永磁同步電動機終端積分之滑模轉速控制及干擾估測器設計

A Terminal Integral Sliding Mode Control and Disturbance Observer Design for Surface Permanent Magnet Synchronous Motor

王柏瑋(BO-WEI WANG)

指導教授 ： 游仁德

中原大學/電機資訊學院/電機工程學系/碩士(2022年)

https://doi.org/10.6840/cycu202201076

摘要

電動機廣泛運用在廣泛的領域因此也成為許多人研究的項目，其中的內外迴路設計以及向量合成切換方式等等都是十分常見的研究，而在外迴路控制方面有著許多的理論研究來對應想要克服或是改進的問題，而為了縮短電動機的響應時間和抗干擾能力，本文提出了一種表面式永磁同步馬達的轉速滑模控制器選擇，利用建立一李亞普諾夫方程式來選擇控制器形式，其形式是一個積分類型的控制器，再者因滑模控制本身又有含sign函數的原因使其會有震盪(chattering)問題而為了減少其sign函數在達到目標後會造成的震盪在其sign項的增益參數中也用了分數形式壓低震盪的問題。而在電壓控制方面，因大多數的論文都使用PI控制來做為電壓輸出，做為區別則在此部分同樣利用一李亞普諾夫方程式設計了電壓控制器，並在最後設計一分數項形式的滑模擾動觀測器來估測負載擾動用於前饋補償，最後使用空間向量調變法搭載三相開關逆變器輸入於表面式永磁同步電動機內，最後在Simulink®將其模擬驗證，其模擬結果能準確的追到其轉速目標並且誤差很小。

關鍵字：積分、滑模控制、滑模平面、滑模觀測器、動態方程式、sign函數

關鍵字

積分 ； 滑模控制 ； 滑模觀測器 ； 動態方程式 ； sign函數

並列摘要

Motors are widely used in a wide range of fields, so they have become a research project for many people. Among them, the design of inner and outer loops and the switching method of vector synthesis are very common researches, and there are many theoretical studies in the control of outer loops. Or the problem of improvement, and in order to shorten the response time and anti-interference ability of the motor, this paper proposes a sliding mode speed controller selection of the surface permanent magnet synchronous motor, using the establishment of a Lyapunov equation to select the controller form, which is the form is an integral type controller, and a fractional form is added to it, hoping that it can reach the target speed in a limited time, and because the sliding mode control itself has a sign function, it will have chattering problems. In order to reduce the oscillation caused by the sign function after reaching the target, the gain parameter of the sign item also uses the fractional form to suppress the oscillation. In terms of voltage control, because most papers use PI control as the voltage output, as a difference, in this part, a Lyapunov equation is also used to design a voltage controller, and a fractional term is designed at the end. The sliding mode disturbance observer is used to estimate the load disturbance for feedforward compensation. Finally, the space vector modulation method is used to carry the three-phase switching inverter input into the surface permanent magnet synchronous motor. Finally, it is simulated and verified in Simulink®. As a result, the speed target can be accurately followed with a small error.

參考文獻

[1] https://en.wikipedia.org/wiki/Electric_motor

[2] https://en.wikipedia.org/wiki/Induction_motor

[3] https://en.wikipedia.org/wiki/Synchronous_motor#Permanent-magnet_motors

[4] KIM, Hongryel; SON, Jubum; LEE, Jangmyung. A high-speed sliding-mode observer for the sensorless speed control of a PMSM. IEEE Transactions on Industrial Electronics, 2010, 58.9: 4069-4077.

[5] KAKOSIMOS, Panagiotis; ABU-RUB, Haitham. Predictive speed control with short prediction horizon for permanent magnet synchronous motor drives. IEEE Transactions on Power Electronics, 2017, 33.3: 2740-2750.