基于预设性能交叉耦合的双永磁同步电动机扰动抑制同步控制研究

doi:10.3901/JME.260262

摘要/Abstract

摘要： 针对双永磁同步电动机的同步运动控制问题，提出一种预设性能交叉耦合和新型趋近律滑模控制相结合的控制方案。首先，构建包含参数变化及负载扰动的数学模型，在交叉耦合控制下定义同步误差，采用预设性能控制，使同步误差收敛到预设的范围内，最小收敛速率满足预设要求，保证了系统的稳态和瞬态性能。其次，设计一种新型滑模趋近律，提升电动机速度跟踪性能，在趋近律中加入以滑模面绝对值为变量的指数函数和幂函数，实现非线性增益的自适应调节，提高趋近速率的自适应性，减少到达时间。采用sigmoid函数代替开关函数，减少高频抖振。然后，设计自适应扩张状态观测器，对电动机的集总扰动进行实时估计，避免了扰动上界对控制设计保守性的约束，并引入到趋近律中，增强系统的抗干扰能力。实验结果表明，所提出控制策略有效可行，在不同的工况条件下均能保证系统同步误差按照预设的性能收敛，对参数变化与负载扰动具有较强的鲁棒性，显著提高了双永磁同步电动机控制系统的稳定性与控制精度。

关键词: 永磁同步电动机, 交叉耦合控制, 预设性能控制, 滑模控制, 扩张状态观测器, 同步控制

Abstract: For the synchronous motion control problem of dual permanent magnet synchronous motors (PMSM), a novel control scheme combining prescribed performance cross-coupling and novel reaching law sliding mode control is proposed. Firstly, a mathematical model incorporating parameter variations and load disturbances is constructed. Under the cross-coupling control framework, synchronous error is defined. Prescribed performance control is employed to ensure that the synchronous error converges to prescribed boundaries, with the minimum convergence rate satisfying prescribed requirements, thereby guaranteeing both steady-state and transient performance. Secondly, a new sliding mode reaching law is designed to enhance speed tracking performance. An exponential function and a power function with the absolute value of the sliding mode surface as the variable are added to the reaching law. This realizes the adaptive adjustment of the nonlinear gain, enhances the adaptability of the reaching rate, and shortens the reaching time. Additionally, a sigmoid function replaces the traditional switching function to suppress high-frequency chattering. Furthermore, an adaptive extended state observer is developed to estimate the lumped disturbances of the motors in real time, eliminating the conservatism caused by relying on disturbance upper bounds in control design. The estimated disturbances are incorporated into the reaching law to strengthen the system’s disturbance rejection capability. Experimental results demonstrate that the proposed strategy effectively ensures the synchronous error converge within prescribed performance boundaries under various operating conditions. It exhibits strong robustness against parameter variations and load disturbances, significantly improving the stability and control precision of dual PMSM systems.

Key words: permanent magnet synchronous motor, cross-coupling control, prescribed performance control, sliding mode control, extended state observer, synchronous control

中图分类号:

TP273
TM351

吕钢强, 原浩, 李明颖, 高泽坤, 王慧慧, 刘阳, 张旭. 基于预设性能交叉耦合的双永磁同步电动机扰动抑制同步控制研究[J]. 机械工程学报, 2026, 62(15): 438-449.

LÜ Gangqiang, YUAN Hao, LI Mingying, GAO Zekun, WANG Huihui, LIU Yang, ZHANG Xu. Research on Disturbance Rejection Synchronous Control of Dual Permanent Magnet Synchronous Motors Based on Prescribed Performance Cross-coupling[J]. Journal of Mechanical Engineering, 2026, 62(15): 438-449.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I15/438

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