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浙江大学学报(工学版)
浙江大学学报(工学版)  2026, Vol. 60 Issue (5): 1128-1138    DOI: 10.3785/j.issn.1008-973X.2026.05.022
计算机技术、控制工程     
基于自适应超扭曲滑模观测与逆变器非线性补偿的PMSM控制
吴昊燃(),李演明*(),张福景,蒋丰合,林海
长安大学 电子控制与工程学院，陕西 西安 710064
PMSM control with inverter nonlinearity compensation based on adaptive super-twisting sliding mode
Haoran WU(),Yanming LI*(),Fujing ZHANG,Fenghe JIANG,Hai LIN
School of Electronics and Control Engineering, Chang’an University, Xi’an 710064, China
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摘要：

为了解决永磁同步电机（PMSM）无传感器控制技术中滑模观测器（SMO）的固有抖振问题，提出改进自适应超扭曲滑模观测器（IAST-SMO）. 通过在超扭曲滑模结构中引入线性项和参数自适应，显著提升观测器在宽速度范围内的精度与控制性能. 针对实际工程中电压源逆变器（VSI）的非线性效应导致的观测精度下降问题，提出在线VSI补偿策略，通过补偿失真电压改善观测器在真实工况下的性能. 搭建PMSM实验平台，对所提控制策略进行验证. 实验结果表明，所提控制策略在PMSM转速为50~1500 r/mim时能够有效抑制观测抖振；与传统超扭曲滑模观测器相比，位置估计误差降低了50%，电流总谐波畸变（THD）不超过2%.
关键词： 永磁同步电机;  滑模观测器;  超扭曲算法;  非线性补偿;  无传感器控制    
Abstract:

To solve the inherent chattering problem of the sliding mode observer (SMO) in the sensorless control technology of permanent magnet synchronous motors (PMSM), an improved adaptive super-twisting sliding mode observer (IAST-SMO) was proposed. By introducing a linear term and parameter adaptation into the super-twisting sliding mode structure, the accuracy and control performance of the observer over a wide speed range were significantly improved. Aiming at the problem of decreased observation accuracy caused by the nonlinear effects of voltage source inverters (VSI) in practical engineering, an online VSI compensation strategy was proposed, which improved the performance of the observer under real working conditions by compensating for the distorted voltage. A PMSM experimental platform was built to verify the proposed control strategy. Experimental results show that the proposed control strategy can effectively suppress observation chattering when the PMSM rotor speed is 50?1500 r/min; compared with the traditional super-twisting sliding mode observer, the position estimation error is reduced by 50%, and the total harmonic distortion (THD) of the current does not exceed 2%.
Key words: permanent magnet synchronous motor(PMSM)    sliding mode observer    super-twisting algorithm    nonlinear compensation    sensorless control
收稿日期: 2025-06-16 出版日期: 2026-05-06
CLC:  TM 301  
基金资助: 陕西省重点研发计划项目（2025ZG-JBGS-010）.
通讯作者: 李演明     E-mail: 2022232023@chd.edu.cn;ymli@chd.edu.cn
作者简介: 吴昊燃（1997—），男，硕士，从事电机控制与算法研究. orcid.org/0009-0009-7726-6580. E-mail：2022232023@chd.edu.cn
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吴昊燃
李演明
张福景
蒋丰合
林海

引用本文:

吴昊燃,李演明,张福景,蒋丰合,林海. 基于自适应超扭曲滑模观测与逆变器非线性补偿的PMSM控制[J]. 浙江大学学报(工学版), 2026, 60(5): 1128-1138.

Haoran WU,Yanming LI,Fujing ZHANG,Fenghe JIANG,Hai LIN. PMSM control with inverter nonlinearity compensation based on adaptive super-twisting sliding mode. Journal of ZheJiang University (Engineering Science), 2026, 60(5): 1128-1138.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.05.022    或    https://www.zjujournals.com/eng/CN/Y2026/V60/I5/1128

参数数值参数数值
额定电压/V24极对数2
转动惯量/(kg·m2)0.00002相电阻/Ω7.25
永磁体磁链/Wb0.024 15相电感/mH6.29
表 1  PMSM实验用参数表
图 1  改进自适应超扭曲滑模观测器原理框图
控制方式参数
PI控制Kp_speed=0.0025，Ki_speed=0.012；
Kp_id=1.258，Ki_id=1450；
Kp_iq=1.408，Ki_iq=1450
SMOh=200
AST-SMOa1=0.0072，a2=0.12
IAST-SMOa1=0.0072，a2=0.12，a3=0.0074，a4=0.16
表 2  超扭曲滑模观测器对比实验的关键参数设置
图 2  不同观测器在不同电机转速下的观测结果对比
n/(r·min?1)观测器$\tilde{n}_{\max} $/(r·min?1)$\tilde{n}_{\mathrm{r}} $/(r·min?1)$\tilde{\theta }_{\max} $/rad$\tilde{\theta }_{\mathrm{r}} $/rad
800SMO15.129.50.1100.110
ST-SMO7.413.80.0600.033
IAST-SMO2.14.50.0300.012
1200SMO12.123.40.0800.042
ST-SMO5.610.60.0450.027
IAST-SMO1.93.70.0250.009
表 3  不同观测器在不同电机转速下的观测性能参数比较
图 3  加减速工况下改进自适应超扭曲滑模观测器实验结果
图 4  抗负载工况下改进自适应超扭曲滑模观测器实验结果
图 5  电压源逆变器非线性效应影响的输出电压
图 6  电流特性函数的模拟波形图
图 7  失真电压计算原理图
图 8  补偿后的失真电压值最小化流程图
图 9  补偿策略实施前后主要电流指标对比(n=1000 r/min)
图 10  基于改进自适应超扭曲滑模观测器与逆变器非线性补偿的PMSM控制
图 11  PMSM实验平台
图 12  补偿策略实施前后改进自适应超扭曲滑模观测器的性能对比实验
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