为了提高永磁同步电机转速伺服系统的性能, 抑制转矩脉动对控制系统的影响, 提出了滑模控制与迭代学习控制相结合的鲁棒迭代学习控制方法(RILC)。设计了迭代学习控制器抑制周期性转矩脉动, 提出了滑模控制器提高系统的抗扰动性能, 保证系统强鲁棒性及响应快速性。实验结果显示, 电机以900 r/min的速度运行时, 采用鲁棒迭代学习控制可将速度脉动6次谐波幅值由0.89降低到0.56; 加入0.5 N·m的负载扰动后, 转速波动最大值为22 r/min, 比PI-迭代学习控制法得到的值减小了1.8%。电机以60 r/min运行时, 采用鲁棒迭代学习控制可将速度脉动6次谐波幅值由4.87降低到0.45; 加入0.5 N·m的负载扰动的, 转速波动最大值为24 r/min, 比PI-迭代学习控制法得到的值减小了23%。得到的结果表明, 鲁棒迭代学习控制方法可有效抑制转矩脉动, 同时可提高永磁同步电机转速伺服系统的鲁棒性和动态响应性能。

A Robust Iterative Learning Control (RILC) method by combining sliding mode control with Iterative Learning Control (ILC) was proposed to suppress the effect of torque ripples on control system and to improve the performance of speed servo system in a Permanent Magnet synchronous Motor(PMSM) . An iterative learning controller was designed to reduce the periodic torque ripples and a sliding mode controller was used to guarantee the fast response and strong robustness to further enhance the anti-disturbance ability of the system. Verification experiments were carried out, and the results demonstrate that when the motor is operating at a speed of 900 r/min, the robust ILC reduces the 6th harmonics amplitude from 0.89 to 0.56. When a sudden load 0.5 N·m is added to the system, the robust ILC gives a maximum speed fluctuation of 22 r/min. Compared with PI-ILC, the speed fluctuation is reduced by 1.4%. When the motor is operating at a speed of 60 r/min, the robust ILC reduces the 6th harmonics amplitude from 4.87 to 0.45. When a sudden load 0.5 N·m is added to the system, the robust ILC gives a maximum speed fluctuation of 24 r/min. Compared with that of a PI-ILC, the speed fluctuation is reduced by 23%. The experimental results indicate that the proposed robust ILC method improves the dynamic and robust performance of the speed servo system and suppresses the periodic torque ripples effectively.