Disturbance Suppression of Permanent Magnet Servo System Based on ILC and Superspiral Sliding Mode Control
The speed loop of the permanent magnet synchronous motor drive system is susceptible to multi-source disturbance,which leads to fluctuation of the motor torque.There are non-periodic disturbances caused by unmodeled dynamics and periodic disturb-ances caused by current sampling errors in permanent magnet synchronous motor(PMSM).To solve this problem,a new scheme was proposed to suppress speed disturbances.A superspiral sliding mode controller was used to quickly track the input curve for a given speed.An extended state observer was used to suppress the aperiodic disturbance and estimate the system state.Finally,the improved PD-type iterative learning control was used to suppress the periodic disturbance.The simulation results in MATLAB/Simulink show that compared with the traditional PI controller,using the composite controller,the system has good tracking ability and anti-disturbance ability,it can effectively suppress the output torque fluctuation when the motor is running.
permanent magnet synchronous motorsuperspiral sliding mode controliterative learningextended state observer
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