A Disturbance Sliding Mode Observer Designed for Enhancing the LQR Current-Control Scheme of a Permanent Magnet Synchronous Motor

Author:

Zhang Zhidong1ORCID,Yang Gongliu2ORCID,Fan Jing3ORCID,Li Tao4,Cai Qingzhong1ORCID

Affiliation:

1. School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China

2. School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China

3. Systems Engineering Research Institute, China State Shipbuilding Corporation Limited, Beijing 100094, China

4. Beijing Institute of Space Long March Vehicle, Beijing 100076, China

Abstract

This paper introduces a current control method for permanent magnet synchronous motors (PMSMs) using a disturbance sliding mode observer (DSMO) in conjunction with a linear quadratic regulator (LQR). This approach enhances control performance, streamlines the tuning of controller parameters, and offers robust optimal control that is resistant to system disturbances. The LQR controller based on state feedback is advantageous for its simplicity in parameter adjustment and achieving an optimal control effect easily under specific performance indicators. It is suitable for the optimal control of strong linear systems that can be accurately modeled. However, most practical systems are difficult to model accurately, and the time-varying system parameters and existing nonlinearity limit the engineering application of LQR. In the PMSM current control loop, there is strong nonlinear disturbance manifesting as the nonlinearity of its dynamic model. Additionally, substantial noise and variations in system parameters within actual motor circuits hinder the linear quadratic regulator from attaining optimal performance. A disturbance sliding mode observer is proposed to enhance the LQR controller, enabling superior performance in nonlinear current loop control. Simulation and actual hardware experiments were conducted to verify the performance and robustness of the control scheme proposed in this paper. Compared with the widely used PI controller in engineering and sliding mode control (SMC) specialising in disturbance rejection, it offers the advantage of straightforward parameter tuning and can swiftly achieve the robust and optimal control performance that engineers prioritize.

Funder

National Natural Science Foundation of China

Publisher

MDPI AG

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