光学精密工程2025，Vol.33Issue(9)：1407-1419,13.DOI:10.37188/OPE.20253309.1407
基于GPIO的永磁同步电机高效非奇异快速终端滑模算法
Efficient non singular fast terminal sliding mode algorithm for permanent magnet synchronous motor based on GPIO
摘要
Abstract
To address the challenges of finite-time convergence and chattering induced by high gain in tra-ditional sliding mode control,a novel composite control strategy is developed to enhance the performance of permanent magnet synchronous motors.This strategy integrates a nonsingular fast terminal sliding mode control(NFTSMC)algorithm with a generalized proportional-integral observer(GPIO).A sliding surface incorporating nonlinear terms is constructed to ensure finite-time convergence,while the GPIO fa-cilitates real-time observation and feedforward compensation of time-varying disturbances within the speed loop.The switching gain is regulated to mitigate chattering effectively.Simulation and experimental re-sults demonstrate that,under a 100 r/min step tracking input,the settling time is reduced to 1.08 s-repre-senting a 32%improvement over conventional PI control-steady-state error decreases to 2.56 r/min,and overshoot is lowered by 7.51%.Upon application of a sudden 2.5 N·m load,precise disturbance estima-tion via the GPIO not only suppresses chattering but also constrains maximum speed fluctuations during loading and unloading to 105.81 r/min and 93.72 r/min,respectively,which is 7.51%lower than PI con-trol,with a faster recovery to the rated speed.Fast Fourier Transform(FFT)analysis reveals that har-monic components of speed(1st,2nd,6th,and 12th)are attenuated by 65%,29%,60%,and 47%,respec-tively,following the incorporation of the observer.In sinusoidal position loop tracking experiments,the maximum commutation error is reduced by 47%and the root-mean-square tracking error decreases from 0.25 to 0.13 with the GPIO observer,improving position tracking accuracy by 48%.These findings sub-stantiate that the proposed control method achieves superior chattering suppression,accelerated dynamic response,and enhanced disturbance rejection capability.关键词
永磁同步电机/非线性控制/滑模控制/抗干扰性能Key words
permanent magnet synchronous motor/non-linear control/sliding mode control/anti inter-ference performance分类
信息技术与安全科学引用本文复制引用
周晓萌,李洪文,邵蒙,邓永停,王鹤..基于GPIO的永磁同步电机高效非奇异快速终端滑模算法[J].光学精密工程,2025,33(9):1407-1419,13.基金项目
吉林省科技发展计划资助项目(No.20230203113SF) （No.20230203113SF）
