为了减小负载转矩扰动和系统参数摄动对永磁同步电机控制系统的影响，提出了一种基于卡尔曼滤波器的自适应滑模速度控制器。该控制器由自适应律估计参数摄动项，用卡尔曼滤波器估计外部扰动项。设计了含积分作用的滑模面，以保证电机转速的无静差跟踪；采用了指数趋近律，以提高趋近速度并削弱抖振。卡尔曼滤波器估计得到的系统外部扰动前馈补偿至控制器的输出，用于有效降低滑模控制器的不连续切换项造成的系统抖振。实验结果显示：跟踪设定的600 r/min转速时，控制器稳态转速精度达到±1 r/min。电机在以600 r/min稳速运行时，设计的控制器在1.6 N·m的外部转矩扰动下的最大转速波动比传统PI控制器的转速波动减小了2% 。仿真分析和实验数据表明基于卡尔曼滤波器的自适应滑模控制器对交流伺服控制系统具有较强的抗扰动性、鲁棒性以及良好的稳态性能。

An adaptive sliding mode controller based on Kalman filter was proposed to reduce load torque ripples and the influence of varying system parameters on the Permanent Magnet Synchronous Motor (PMSM) system. The varying system parameters were evaluated by the adaptive law, and the external disturbance was evaluated by the Kalman filter. The integral action contained in the sliding surface was designed to ensure the steady state error of tracking velocity zero, and the exponential reaching law was employed to increase the reaching speed and to suppress the chattering of sliding mode control. The external disturbance obtained by the Kalman filter was used for feed-forward compensation for the controller output, so the chattering caused by high sliding mode gains was decreased effectively. Experimental results demonstrate that the speed fluctuation is ±1 r/min when the motor reaches the steady state of 600 r/min. Compared with the traditional PI controller, the proposed controller decreases the speed fluctuation by 2% when the torque disturbance of 1.6 N·m is added at the steady speed of 600 r/min. These data verified by simulation and experimental results indicate that the adaptive sliding mode controller based on Kalman filter has anti-disturbance performance and robustness to the AC servo control systems and shows excellent stability.