河北科技大学学报2026，Vol.47Issue(1)：40-48,9.DOI:10.7535/hbkd.2026yx01005
新型滑模自抗扰起重机电机控制系统研究
Research on the control system of a novel sliding mode active disturbance rejection crane motor
摘要
Abstract
In order to enhance the response speed of the permanent magnet synchronous motor(PMSM)in cranes and the robustness of the system,an improved index law was proposed.The new sliding mode control(NSMC)in the speed loop was adopted based on field-oriented control(FOC).A new function f(s)was introduced to enhance the response speed at which the system state variables approached the sliding mode surface.The sign function sign(s)was replaced by a continuous function h(s)to reduce the chattering caused by the discontinuity of the sign function.A new extended state observer(NESO)was designed to observe disturbances and further optimize the speed controller.The fal(s)function in traditional observer was replaced by a nonlinear smooth function K(s)to eliminate chattering and improve the observation accuracy of the observer.The results show that the motor speed is stable at approximately 0.05 s after starting,with a speed oscillation of about 10 r/min.It verifies the correctness of the controller algorithm.The designed algorithm can effectively improve the response speed of the system and provide reference for the control of PMSM in cranes.关键词
电机学/永磁同步电机/新型滑模控制/新型扩张状态观测器/抖振/起重机Key words
electrical machinery/permanent magnet synchronous motor/new sliding mode control/new extended state observer/chattering/crane分类
信息技术与安全科学引用本文复制引用
孙会琴,回宝峰,王宏辉,张世宇,海洪宽,杨晓锐..新型滑模自抗扰起重机电机控制系统研究[J].河北科技大学学报,2026,47(1):40-48,9.基金项目
国家自然科学基金(52307010) （52307010）
