CN115189609A - Permanent magnet synchronous motor integral sliding mode prediction control method - Google Patents

Permanent magnet synchronous motor integral sliding mode prediction control method Download PDF

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CN115189609A
CN115189609A CN202210905761.6A CN202210905761A CN115189609A CN 115189609 A CN115189609 A CN 115189609A CN 202210905761 A CN202210905761 A CN 202210905761A CN 115189609 A CN115189609 A CN 115189609A
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sliding mode
current
integral
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axis
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汪凤翔
李政
柯栋梁
何龙
柯哲涵
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Quanzhou Institute of Equipment Manufacturing
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention provides a permanent magnet synchronous motor integral sliding mode prediction control method, which comprises the following steps: firstly, acquiring a rotating speed sensor signal obtained by sampling an electrical platform, subtracting the rotating speed sensor signal from a speed command, transmitting the rotating speed sensor signal into an integral sliding mode predicted speed controller, and calculating to obtain a current control signal, wherein the integral sliding mode predicted speed controller is constructed by taking an integral sliding mode surface as a target structure and combining a predicted rotating speed model; then, the current control signal is subtracted from an actual signal obtained by sampling of an electrical platform, the obtained value is input into an integral sliding mode prediction current controller, output voltage enters a current loop, and a pulse signal is obtained through space vector modulation; and finally, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of a rotating speed loop and a current loop. The method realizes cascade control based on sliding mode prediction speed control and sliding mode prediction current control, and improves the robustness and the response speed of system response.

Description

Permanent magnet synchronous motor integral sliding mode prediction control method
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a permanent magnet synchronous motor integral sliding mode prediction control method.
Background
The permanent magnet synchronous motor uses the permanent magnet to provide excitation, so that the structure of the motor is simpler, the processing and assembly cost is reduced, a collecting ring and an electric brush which are easy to cause problems are omitted, the running reliability of the motor is improved, and the efficiency and the power density of the motor are improved because excitation current is not needed and excitation loss does not exist. Based on these advantages, a Permanent Magnet Synchronous Motor (PMSM) is widely used for a drive device. The traditional controller of the rotating speed loop and the current loop is a PI controller, but the parameter setting of the PI controller can only be applied to a certain specific working range, the control effect of the PI controller is reduced when the click working state changes, and because the permanent magnet synchronous motor is a complex system with strong coupling, multivariable and nonlinearity, the risk of permanent magnet demagnetization exists, and the PI controller cannot provide better performance.
At present, some novel control algorithms such as fuzzy control, adaptive control, predictive control and the like are also proposed, but optimization is mainly performed on one control method and only one emphasis point in the system, and improvement on the overall control performance is limited.
Disclosure of Invention
The invention aims to solve the technical problem of providing an integral sliding mode prediction control method of a permanent magnet synchronous motor, which is based on the cascade control of sliding mode prediction speed control and sliding mode prediction current control and realizes the robustness and the rapidity of system response.
The invention is realized by the following steps: an integral sliding mode prediction control method for a permanent magnet synchronous motor comprises the following steps:
step 1, obtaining a rotation speed sensor signal omega obtained by sampling of an electrical platform r The rotation speed sensor signal ω r And speed command
Figure BDA0003772424730000011
Subtracting, transmitting into an integral sliding mode predicted speed controller, and calculating to obtain a current control signal
Figure BDA0003772424730000021
And based on i d Method for controlling d axis to obtain current control signal of d axis
Figure BDA0003772424730000022
The integral sliding mode prediction speed controller is obtained by combining an integral sliding mode surface as a target structure with a prediction rotating speed model;
step 2, the current control signal is used
Figure BDA0003772424730000023
And
Figure BDA0003772424730000024
with actual signals i sampled by respective electrical platforms d And i q Making difference, inputting the obtained value into an integral sliding mode prediction current controller, and outputting voltage u q And u d Entering a current loop, and obtaining a pulse signal through space vector modulation; the integral sliding mode prediction current controller is a sliding mode prediction current controller of a current loop designed according to a d-q current coordinate system and comprises a d-axis current control loop module and a q-axis current control loop module;
and 3, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of a rotating speed loop and a current loop.
Further, the specific implementation manner of the integral sliding mode predicted speed controller is as follows:
step a1, establishing a permanent magnet synchronous motor model of a rotating speed ring:
Figure BDA0003772424730000025
wherein, ω is m Is the mechanical angular velocity of the rotor, J is the moment of inertia, T e For electromagnetic torque, T l For load torque, B is the coefficient of friction, # f Is a permanent magnet flux linkage i q Is a current of q-axis, P n The number of the pole pairs is the number of the pole pairs,
Figure BDA00037724247300000210
is the derivative of the rotational speed;
step a2, determining an integral sliding mode surface of sliding mode control:
Figure BDA0003772424730000026
wherein s is ω (t) is the slip form face, e ω (t) is the error of the set value and the feedback value, c ω Is the coefficient of the integral;
step a3, establishing a sliding mode surface of the elapsed time T based on the predictive control, and expressing as follows:
Figure BDA0003772424730000027
step a4, determining models of the sliding mode surfaces in different orders:
Figure BDA0003772424730000028
wherein, c ω Integral surface coefficient representing the speed ring, e ω For deviations of the given rotational speed from the actual rotational speed,
Figure BDA0003772424730000029
a control command value for the rotation speed;
step a5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure BDA0003772424730000031
where T is the control period, k ω As a coefficient, sgn is a sign function, ε ω Is a sign function coefficient;
step a6, obtaining an integral sliding mode predicted speed controller:
Figure BDA0003772424730000032
further, the q-axis current control loop module is specifically implemented as follows:
step b1, establishing a mathematical model of a current loop iq shafting:
Figure BDA0003772424730000033
wherein u is q Is the voltage of the q-axis, i d 、i q Current of d and q axes, respectively, ω e For the electrical angular velocity of the rotor of the machine, R is the stator resistance, L d 、L q D, q-axis inductances,. Psi f Is a permanent magnet flux linkage;
step b2, designing a current loop integral sliding mode surface:
Figure BDA0003772424730000034
wherein s is q Current loop integral slip form plane of q-axis, e q Error of given value from feedback value, c q Is the sliding mode surface coefficient;
step b3, the sliding mode surface of the predicted elapsed time T is expressed as:
Figure BDA0003772424730000035
step b4, determining models of the sliding mode surface in different orders:
Figure BDA0003772424730000036
wherein s is q Is a q-axis current loop sliding mode surface,
Figure BDA0003772424730000037
is the derivative of the slip form surface of the q-axis current loop, c q As a surface parameter of the q-axis current loop slip form, e q Is the error between the given value and the feedback value;
step b5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure BDA0003772424730000038
Figure BDA0003772424730000039
step b6, simplifying an integral sliding mode prediction q-axis current controller:
Figure BDA0003772424730000041
further, the d-axis current control loop module is specifically implemented as follows:
step c1, establishing a current loop id shafting mathematical model:
Figure BDA0003772424730000042
wherein u is d Is the voltage of the d-axis, i d 、i q Currents of d and q axes, ω e For the electrical angular velocity of the rotor of the machine, R is the stator resistance, L d 、L q D-axis and q-axis inductors respectively;
step c2, designing a current loop integral sliding mode surface:
Figure BDA0003772424730000043
step c3, the sliding mode surface of the predicted elapsed time T is expressed as:
Figure BDA0003772424730000048
step c4, determining models of the sliding mode surface in different orders:
Figure BDA0003772424730000044
step c5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure BDA0003772424730000045
Figure BDA0003772424730000046
step c6, simplifying the d-axis current controller for predicting the integral sliding mode:
Figure BDA0003772424730000047
the invention has the following advantages: an Integral Sliding Mode Prediction Controller (ISMPC) is designed by combining an integral sliding mode control structure and a model prediction control algorithm, and a sliding mode prediction speed and current control algorithm is designed based on a rotating speed model and a current model of a permanent magnet synchronous motor, so that the strong robustness tracking of a speed loop and a current loop is realized, and the overall response speed of the system is improved.
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The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is an execution flow chart of an integral sliding mode prediction control method of a permanent magnet synchronous motor according to the present invention.
FIG. 2 is a schematic structural diagram of a sliding mode predictive control algorithm of the present invention.
FIG. 3 is a schematic diagram of the system of the present invention.
Detailed Description
As shown in fig. 1 to fig. 3, the integral sliding-mode prediction control method for a permanent magnet synchronous motor provided by the present invention includes the following steps:
step 1, obtaining a rotation speed sensor signal omega obtained by sampling of an electrical platform r The rotation speed sensor signal ω r And speed command
Figure BDA0003772424730000051
Subtracting, transmitting into an integral sliding mode predicted speed controller, and calculating to obtain a current control signal
Figure BDA0003772424730000052
And based on i d The control method of =0 obtains a current control signal of d axis (i.e. d axis in d-q coordinate system)
Figure BDA0003772424730000053
The integral sliding mode prediction speed controller is obtained by combining an integral sliding mode surface as a target structure with a prediction rotating speed model;
step 2, controlling the current signal
Figure BDA0003772424730000054
And
Figure BDA0003772424730000055
actual signals i obtained by sampling with the electric platform respectively d And i q Making difference, inputting the obtained value into an integral sliding mode prediction current controller, and outputting voltage u q And u d Entering a current loop, and obtaining a pulse signal through space vector modulation; the integral sliding mode prediction current controller is a sliding mode prediction current controller of a current loop designed according to a d-q current coordinate system and comprises a d-axis current control loop module and a q-axis current control loop module；
And 3, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of the rotating speed loop and the current loop.
As shown in fig. 3, the entire system platform is a three-layer structure. The electrical platform at the lowest layer comprises a load inverter, a driving inverter and a butt-supporting motor; the middle layer is a digital signal processing layer and comprises an analog-to-digital conversion layer, an incremental encoder, a controller, a serial port communication layer and a pulse generation module; the top layer is an algorithm model which mainly comprises Clark and park transformation, a control system model and space vector transformation. Signals such as current, rotating speed and the like of an electric layer are sampled and transmitted to a digital signal processor of a middle layer to perform analog-to-digital conversion and rotating speed coding conversion, control model calculation is performed on an algorithm layer according to input signals and a motor model, the obtained optimal pulse is sent to a driver through PWM, and the optimal pulse is connected with an upper computer through serial port communication to be controlled, so that the control of the whole system is completed.
Preferably, the specific implementation manner of the integral sliding mode predicted speed controller is as follows:
step a1, establishing a permanent magnet synchronous motor model of a rotating speed ring:
Figure BDA0003772424730000061
wherein, ω is m Is the mechanical angular velocity of the rotor, J is the moment of inertia, T e For electromagnetic torque, T l For load torque, B is the coefficient of friction, # f Is a permanent magnet flux linkage i q Is the current of q axis, P n The number of the pole pairs is the number of the pole pairs,
Figure BDA0003772424730000064
is the derivative of the rotational speed;
step a2, determining an integral sliding mode surface of sliding mode control:
Figure BDA0003772424730000062
wherein s is ω (t) is the slip form face, e ω (t) is the error of the set value from the feedback value, c ω Is the coefficient of the integral;
step a3, establishing a sliding mode surface of the elapsed time T (i.e., one control period) based on the predictive control, as follows:
Figure BDA0003772424730000065
step a4, determining models of the sliding mode surface in different orders:
Figure BDA0003772424730000063
wherein, c ω Integral surface coefficient representing the speed ring, e ω For deviations of the given rotational speed from the actual rotational speed,
Figure BDA0003772424730000071
a control command value for the rotation speed;
step a5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure BDA0003772424730000072
where T is the control period, k ω As a coefficient, sgn is a sign function, ε ω Is a sign function coefficient;
step a6, obtaining an integral sliding mode predicted speed controller:
Figure BDA0003772424730000073
preferably, the q-axis current control loop module is implemented as follows:
step b1, establishing a mathematical model of a current loop iq shafting:
Figure BDA0003772424730000074
wherein u is q Is the voltage of the q-axis, i d 、i q Currents of d and q axes, ω e Is the electrical angular velocity of the motor rotor, R is the stator resistance, L d 、L q D and q axes of inductance,/, respectively f Is a permanent magnet flux linkage;
step b2, designing a current loop integral sliding mode surface:
Figure BDA0003772424730000075
wherein s is q Current loop integral slip form plane of q axis, e q Error of given value from feedback value, c q Is the coefficient of the sliding mode surface;
step b3, the sliding mode surface of the predicted elapsed time T is expressed as:
Figure BDA0003772424730000076
step b4, determining the models of the sliding mode surfaces in different orders:
Figure BDA0003772424730000077
wherein s is q Is a q-axis current loop sliding mode surface,
Figure BDA0003772424730000078
is the derivative of the slip form surface of the q-axis current loop, c q As a surface parameter of the q-axis current loop slip form, e q The error between the given value and the feedback value;
step b5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure BDA0003772424730000079
Figure BDA0003772424730000081
step b6, simplifying an integral sliding mode prediction q-axis current controller:
Figure BDA0003772424730000082
preferably, the d-axis current control loop module is implemented as follows:
step c1, establishing a current loop id shafting mathematical model:
Figure BDA0003772424730000083
wherein u is d Is the voltage of the d-axis, i d 、i q Currents of d and q axes, ω e For the electrical angular velocity of the rotor of the machine, R is the stator resistance, L d 、L q D-axis and q-axis inductors respectively;
step c2, designing a current loop integral sliding mode surface:
Figure BDA0003772424730000084
step c3, predicting the sliding mode surface of the passing time T as follows:
Figure BDA0003772424730000085
step c4, determining models of the sliding mode surface in different orders:
Figure BDA0003772424730000086
step c5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure BDA0003772424730000087
Figure BDA0003772424730000088
step c6, simplifying the d-axis current controller for predicting the integral sliding mode:
Figure BDA0003772424730000089
the technical scheme provided in the embodiment of the application has at least the following technical effects or advantages: firstly, a sliding mode prediction speed control method is adopted to carry out rotating speed loop control on the motor, and the robustness of the sliding mode control and the response speed of the prediction control are comprehensively improved. And secondly, designing a d-axis and q-axis two sliding mode prediction current control method in a d-q current coordinate system, so as to realize high-speed robust response of a current loop and further improve the overall control precision.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.

Claims (4)

1. An integral sliding mode prediction control method for a permanent magnet synchronous motor is characterized by comprising the following steps: the method comprises the following steps:
step 1, obtaining a rotation speed sensor signal omega obtained by sampling of an electrical platform r The rotation speed sensor signal ω r And speed command
Figure FDA0003772424720000011
Subtracting, transmitting into an integral sliding mode predicted speed controller, and calculatingObtaining a current control signal
Figure FDA0003772424720000012
And is based on i d Method for controlling =0 to obtain current control signal of d axis
Figure FDA0003772424720000013
The integral sliding mode prediction speed controller is obtained by combining an integral sliding mode surface as a target structure with a prediction rotating speed model;
step 2, the current control signal is used
Figure FDA0003772424720000014
And
Figure FDA0003772424720000015
with actual signals i sampled by respective electrical platforms d And i q Making difference, inputting the obtained value into an integral sliding mode prediction current controller, and outputting voltage u q And u d Entering a current loop, and obtaining a pulse signal through space vector modulation; the integral sliding mode prediction current controller is a sliding mode prediction current controller of a current loop designed according to a d-q current coordinate system and comprises a d-axis current control loop module and a q-axis current control loop module;
and 3, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of a rotating speed loop and a current loop.
2. The method of claim 1, wherein: the specific implementation manner of the integral sliding mode predicted speed controller is as follows:
step a1, establishing a permanent magnet synchronous motor model of a rotating speed ring:
Figure FDA0003772424720000016
wherein, ω is m Is the mechanical angular velocity of the rotor, J is the moment of inertia,T e for electromagnetic torque, T l For load torque, B is the coefficient of friction, # f Is a permanent magnet flux linkage i q Is a current of q-axis, P n The number of the pole pairs is the number of the pole pairs,
Figure FDA0003772424720000017
is the derivative of the rotational speed;
step a2, determining an integral sliding mode surface of sliding mode control:
Figure FDA0003772424720000018
wherein s is ω (t) is the slip form face, e ω (t) is the error of the set value from the feedback value, c ω Is the coefficient of the integral;
step a3, establishing a sliding mode surface of the elapsed time T based on the predictive control, and expressing as follows:
Figure FDA0003772424720000019
step a4, determining models of the sliding mode surface in different orders:
Figure FDA0003772424720000021
wherein, c ω Integral surface coefficient representing the speed ring, e ω For deviations of the given rotational speed from the actual rotational speed,
Figure FDA0003772424720000022
the control command value is the rotating speed;
step a5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure FDA0003772424720000023
where T is the control period, k ω As a coefficient, sgn is a sign function, ε ω Is a sign function coefficient;
step a6, obtaining an integral sliding mode predicted speed controller:
Figure FDA0003772424720000024
3. the method of claim 1, wherein: the q-axis current control loop module is specifically realized as follows:
step b1, establishing a mathematical model of a current loop iq shafting:
Figure FDA0003772424720000025
wherein u is q Is the voltage of the q-axis, i d 、i q Currents of d and q axes, ω e Is the electrical angular velocity of the motor rotor, R is the stator resistance, L d 、L q D, q-axis inductances,. Psi f Is a permanent magnet flux linkage;
step b2, designing a current loop integral sliding mode surface:
Figure FDA0003772424720000026
wherein s is q Current loop integral slip form plane of q-axis, e q Error of given value from feedback value, c q Is the sliding mode surface coefficient;
step b3, the sliding mode surface of the predicted elapsed time T is expressed as:
Figure FDA0003772424720000027
step b4, determining models of the sliding mode surface in different orders:
Figure FDA0003772424720000031
wherein s is q Is a q-axis current loop sliding mode surface,
Figure FDA0003772424720000032
is the derivative of the slip form surface of the q-axis current loop, c q As a surface parameter of the q-axis current loop slip form, e q Is the error between the given value and the feedback value;
step b5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure FDA0003772424720000033
Figure FDA0003772424720000034
step b6, simplifying an integral sliding mode prediction q-axis current controller:
Figure FDA0003772424720000035
4. the method of claim 1, wherein: the d-axis current control loop module is specifically realized as follows:
step c1, establishing a current loop id shafting mathematical model:
Figure FDA0003772424720000036
wherein u is d Is the voltage of the d-axis, i d 、i q Currents of d and q axes, ω e For the electrical angular velocity, R, of the rotor of the machineIs stator resistance, L d 、L q D-axis and q-axis inductors respectively;
step c2, designing a current loop integral sliding mode surface:
Figure FDA0003772424720000037
step c3, the sliding mode surface of the predicted elapsed time T is expressed as:
Figure FDA0003772424720000038
step c4, determining models of the sliding mode surface in different orders:
Figure FDA0003772424720000039
step c5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure FDA0003772424720000041
Figure FDA0003772424720000042
step c6, simplifying the d-axis current controller for predicting the integral sliding mode:
Figure FDA0003772424720000043
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CN110190795A (en) * 2019-06-11 2019-08-30 东北大学 A kind of permanent magnet synchronous motor tandem type Robust Prediction current control method

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Publication number Priority date Publication date Assignee Title
CN104300863A (en) * 2014-10-21 2015-01-21 天津大学 Self-adaption sliding mode control method for speed regulation of variable-load permanent magnet synchronous motor
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