非匹配不确定系统的滑模控制及在电机控制中的应用
Sliding mode control for nonlinear system with mismatched uncertainties and application in motor control

针对具有匹配与非匹配不确定的非线性系统, 设计基于干扰观测器和多幂次趋近律的滑模控制策略. 首先, 通过干扰观测器估计系统的不确定, 实现估计误差在有限时间内收敛; 其次, 基于积分型滑模面, 并结合多幂次趋近 律, 设计了连续滑模控制律, 避免了传统滑模的抖振问题. 与基于单幂次和双幂次趋近律的滑模控制策略相比, 所设 计的基于多幂次趋近律的控制策略, 提高了系统的收敛速度. 最后, 通过数值仿真和永磁同步电机控制仿真验证了 所设计的控制策略的有效性.
A sliding mode control (SMC) strategy based on disturbance observer and multi power reaching law is proposed for a nonlinear system with matched and mismatched uncertainties. Firstly, the disturbance is estimated via the disturbance observer, and the estimation error converges in finite time. Secondly, with multi power reaching law, the continuous controller based on integral sliding mode surface is designed, where the chattering problem in the traditional sliding mode control is avoided. Compared with single power reaching law and double power reaching law based-SMC strategy, the multi power reaching law based SMC increases the convergence speed. Finally, the numerical simulation and permanent magnet synchronous motor (PMSM) control simulation are done to demonstrate the performance of the developed control strategy