鎽樿锛�閲濆皪(du矛)棰�(f膿ng)姗�(j墨)璨�(f霉)杓夌殑鐗归粸(di菐n)锛屾彁鍑轰竴绋熀浜庨潪绶氭€ф帶鍒剁瓥鐣ョ殑鍙嶆帹鎺у埗锛屽(sh铆)鐝�(xi脿n)浜嗛€熷害闁夌挵(hu谩n)鎺у埗銆傝ō(sh猫)瑷�(j矛)鐨勫弽鎺ㄦ帶鍒跺彲浠ュ(sh铆)鐝�(xi脿n)姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)閫熷害璺熻工鎺у埗銆備繚璀夌郴绲�(t菕ng)鍏锋湁鑹ソ閫熷害璺熻工鎬ц兘銆傝€屼笖鎻愰珮浜嗛ⅷ(f膿ng)姗�(j墨)椤炶矤(f霉)杓夌殑鏁堢巼銆� 闂�(gu膩n)閸佃锛�棰�(f膿ng)姗�(j墨)璨�(f霉)杓�锛涘弽鎺ㄥ紡鎺у埗锛涢€熷害璺熻工锛涙案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨) Abstracl锛�This study brings forward back stepping control based on nonlinear control strategy as a possible way to implement close鈥攂op speed-control based on the characteristic of fans load. The new ly designed backstepping control is implemented for Pennanent Magnet Synchronous Motor锛圥M SM锛塼o track speed commands. The design can provide better speed tracking perform ance and improve the efficiency of fans load. Key words锛�fans load锛沚ack stepping control锛泂peed tracking锛汸M SM 1 鍓嶈█ 銆€銆€鐣�(d膩ng)鎭掗€熼浕鍕�(d貌ng)姗�(j墨)椹�(q奴)鍕�(d貌ng)棰�(f膿ng)姗�(j墨)銆佹按娉电瓑娴侀珨璨�(f霉)杓夐渶瑕佹帶鍒舵祦閲忕殑姗�(j墨)姊版檪(sh铆), 鍌崇当(t菕ng)鐨勫仛娉曟槸鐢ㄦ獢鏉挎垨闁ラ杸绛夌瘈(ji茅)娴佽缃締瑾�(di脿o)绡€(ji茅)娴侀噺, 閫欑ó鏂规硶鎶婂ぇ閲忕殑鑳介噺娑堣€楀湪绡€(ji茅)娴佽缃強绠￠亾鐨勭（鎿︾櫦(f膩)鐔变笂, 绯荤当(t菕ng)鏁堢巼寰堜綆?锛孎(xi脿n)鍦ㄥぇ澶氶噰鐢ㄧ暟姝ラ浕鍕�(d貌ng)姗�(j墨)璁婇牷瑾�(di脿o)閫熶締鎺у埗, 绡€(ji茅)鐪佽兘閲�, 鏈夋瘮杓冨ソ鐨勮(di脿o)閫熸€ц兘, 浣嗗児(ji脿)鏍兼瘮杓冭泊, 鑰屼笖澶氶噰鐢ㄩ枊鐠�(hu谩n)鎺у埗, 娌掓湁褰㈡垚閫熷害闁夌挵(hu谩n)鎺у埗銆傚洜姝�, 鍦ㄤ竴浜涜矤(f霉)澹撹姹傜簿纰虹殑瀵�(sh铆)椹�(y脿n)鍫�(ch菐ng)鍚�, 璁婇牷瑾�(di脿o)閫熼仈(d谩)涓嶅埌瑕佹眰銆傛案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)锛圥M SM 锛夊叿鏈夌祼(ji茅)妲�(g貌u)绶婃箠銆侀珮鍔熺巼瀵嗗害銆侀珮姘ｉ殭纾侀€氬拰楂樿綁(zhu菐n)鐭╂叄鎬ф瘮绛�銆傚洜姝�, 姘哥鍚屾闆绘(j墨)鏈夊緢澶х殑鍎�(y艒u)瓒婃€с€� 鏈枃鎻愬嚭涓€绋柊鐨勯潪绶氭€у弽鎺ㄥ紡锛圔ack stepping锛� 鎺у埗绛栫暐, 瀹冩槸鍩轰簬鏉庝簽鏅澶紙Lyapunov锛� 鍑芥暩(sh霉), 浣跨郴绲�(t菕ng)鍏ㄥ眬婕歌繎绌�(w臎n)瀹氱偤瑷�(sh猫)瑷�(j矛)鍘熷墖, 涓嶄絾鑳藉?q奴)宕縁(xi脿n)姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)绯荤当(t菕ng)鐨勫畬鍏ㄨВ鑰�, 鑰屼笖灏�(du矛)棰�(f膿ng)姗�(j墨)椤炶矤(f霉)杓夋湁寰堝ソ鐨勬帶鍒舵晥鏋�銆� 2 姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)鍙婇ⅷ(f膿ng)姗�(j墨)椤炶矤(f霉)杓夋ā鍨� 閲囩敤琛ㄩ潰寮忕殑姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)锛屽熀浜庡悓姝ユ棆杞�(zhu菐n)杞�(zhu菐n)瀛愬潗妯�(bi膩o)鐨刣-q妯″瀷濡備笅 鍏朵腑锛歶[sub]d[/sub]銆乽[sub]q[/sub]鐐篸銆乹杌稿畾瀛愰浕澹擄紱i[sub]d[/sub]銆乮[sub]q[/sub]鐐篸銆乹杌稿畾瀛愰浕娴侊紱R鐐哄畾瀛愰浕闃�锛汱鐐哄畾瀛愰浕鎰燂紱T[sub]L[/sub]鐐鸿矤(f霉)杓夎綁(zhu菐n)鐭�锛汮鐐鸿綁(zhu菐n)鍕�(d貌ng)鎱ｉ噺锛汢鐐虹矘婊懇鎿︾郴鏁�(sh霉)锛汸鐐烘サ灏�(du矛)鏁�(sh霉)锛浵夌偤杞�(zhu菐n)瀛愭(j墨)姊拌閫熷害锛�鐐烘案纾佺閫�銆� 灏�(du矛)浜庨ⅷ(f膿ng)姗�(j墨)椤炶矤(f霉)杓�锛岃矤(f霉)杓夎垏杞�(zhu菐n)閫熺殑骞虫柟鎴愭姣� 鍏朵腑锛孠[sub]m[/sub]鐐哄父鏁�(sh霉)銆� 3 绯荤当(t菕ng)鎺у埗鐨勮ō(sh猫)瑷�(j矛) 3.1 Backsteping鎺у埗瑷�(sh猫)瑷�(j矛)姝ラ Back stepping浣滅偤涓€绋湁鏁堢殑闈炵窔鎬ф帶鍒惰ō(sh猫)瑷�(j矛)鏂规硶锛屽叾瑷�(sh猫)瑷�(j矛)姝ラ鐐猴細 1锛夐伕鍙栫郴绲�(t菕ng)鐨勪竴鍊�(g猫)鐙€鎱�(t脿i)锛屾(g貌u)鎴愬瓙绯荤当(t菕ng)锛屾(g貌u)閫犲瓙绯荤当(t菕ng)鐨凩yapunov鍑芥暩(sh霉)锛岃ō(sh猫)瑷�(j矛)鍋囧畾鎺у埗鍑芥暩(sh霉)锛屼娇瀛愮郴绲�(t菕ng)绌�(w臎n)瀹氾細 2锛夊熀浜�1锛夌殑鍋囧畾鎺у埗锛岃ō(sh猫)瑷�(j矛)瑾ゅ樊璁婇噺锛岀敱瑾ゅ樊璁婇噺鍜屽墠闈㈢殑瀛愮郴绲�(t菕ng)绲勬垚鏂扮殑瀛愮郴绲�(t菕ng)锛屾(g貌u)閫犳柊鐨勫瓙绯荤当(t菕ng)鐨凩 yapunov鍑芥暩(sh霉)锛屽啀瑷�(sh猫)瑷�(j矛)鍋囧畾鎺у埗锛屼娇鏂扮殑瀛愮郴绲�(t菕ng)绌�(w臎n)瀹氾細 3锛夊鏋滈倓娌掓湁寰楀埌绯荤当(t菕ng)鐨勫(sh铆)闅涙帶鍒�锛屽墖杩斿洖1锛夌辜绾�(x霉)瑷�(sh猫)瑷�(j矛)锛屽鏋滃緱鍒扮郴绲�(t菕ng)鐨勫(sh铆)闅涙帶鍒�锛屽墖鍚戜笅瑷�(sh猫)瑷�(j矛)锛� 4锛夎ō(sh猫)瑷�(j矛)绯荤当(t菕ng)鐨勫(sh铆)闅涙帶鍒讹紝淇濊瓑鏁村€�(g猫)绯荤当(t菕ng)绌�(w臎n)瀹�銆� 閫氶亷浠ヤ笂鐨勬椹熷彲浠ョ湅鍑猴紝Back stepping鐨勬渶澶у劒(y艒u)榛�(di菐n)鏄渶绲傚緱鍒扮殑鎺у埗鑲畾鍙互淇濊瓑鏁村€�(g猫)绯荤当(t菕ng)鐨勫叏灞€绌�(w臎n)瀹�銆� 3.2 Backstepping鎺у埗瀵�(sh铆)鐝�(xi脿n) 灏�(du矛)浜庨ⅷ(f膿ng)姗�(j墨)椤炶矤(f霉)杓�锛岄ⅷ(f膿ng)閲忚垏闆绘(j墨)杞�(zhu菐n)閫熸垚姝ｆ瘮锛岃矤(f霉)杓夎垏杞�(zhu菐n)閫熺殑骞虫柟鎴愭姣�锛屽洜姝ゆ帶鍒堕ⅷ(f膿ng)閲忓嵆鎺у埗闆绘(j墨)鐨勮綁(zhu菐n)閫�銆傚叾鎺у埗鐩(bi膩o)涓昏鏄€熷害璺熻工锛屽畾缇╄窡韫よ宸偤 閬告搰e鐐烘柊鐨勭媭鎱�(t脿i)璁婇噺锛屾(g貌u)鎴愬瓙绯荤当(t菕ng)锛岀郴绲�(t菕ng)鏂圭▼鐐� 鐐轰娇閫熷害璺熻工瑾ゅ樊瓒ㄤ簬闆�锛屽皪(du矛)浜庡瓙绯荤当(t菕ng)锛�6锛�锛屾(g貌u)閫犲涓婰 yapunov鍑芥暩(sh霉) 鍥犳瀵�(sh铆)鐝�(xi脿n)鎺у埗寮忥紙10锛�锛屽嵆鍙仈(d谩)鍒伴€熷害鍏ㄥ眬婕歌繎璺熻工鐨勭洰鐨�銆� 鐐轰簡瀵�(sh铆)鐝�(xi脿n)姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)鐨勫畬鍏ㄨВ鑰﹀拰閫熷害璺熻工锛屽彲浠ラ伕鎿囧涓嬪亣瀹氶浕娴佸嚱鏁�(sh霉) 鐐轰簡瀵�(sh铆)鐝�(xi脿n)闆绘祦璺熻工锛岄伕鎿噏杌搁浕娴佽窡韫よ宸偤鏂扮殑鐙€鎱�(t脿i)璁婇噺 鐢眅銆乪[sub]q[/sub]鍙互绲勬垚鏂扮殑绯荤当(t菕ng)銆傚皪(du矛)寮忥紙14锛夋眰灏�(d菐o)鏁�(sh霉)锛屽彲寰� 寮忥紙17锛変腑鍖呭惈浜嗙郴绲�(t菕ng)鐨勫(sh铆)闅涙帶鍒秛q鐐轰娇寮忥紙16锛夋亽婊胯冻V[sub]2[/sub]<0锛岄伕鎿� 鐢眅銆乪[sub]q[/sub]銆乪[sub]d[/sub]銆傚張鍙互绲勬垚鏂扮殑绯荤当(t菕ng)銆傚皪(du矛)寮忥紙20锛夋眰灏�(d菐o)鏁�(sh霉)锛屽彲寰楀皪(du矛)浜庢柊鐨勭郴绲�(t菕ng)鍙堝彲妲�(g貌u)閫犳柊鐨凩 yapunov鍑芥暩(sh霉)鐐哄皪(du矛)寮忥紙21锛夋眰灏�(d菐o)鏁�(sh霉)锛屽彲寰� 寮忥紙22锛変腑鍖呭惈浜嗙郴绲�(t菕ng)鐨勫(sh铆)闅涙帶鍒秛d銆傜偤浣垮紡锛�22锛夋亽婊胯冻V[sub]3[/sub]<0.閬告搰 鍗冲皪(du矛)浜庝换鎰忕郸瀹氬弮鏁�(sh霉)锛屼娇Lyapunov鍑芥暩(sh霉)V[sub]3[/sub]=鐢盠yapunov绌�(w臎n)瀹氭€у畾鐞嗭紝鎺у埗鏂圭▼锛�19锛�銆侊紙25锛夊彲浠ヤ娇姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)绯荤当(t菕ng)涓嶄絾鍙互閬�(d谩)鍒伴€熷害鐨勬几杩戣窡韫�锛屽苟涓斿彲浠ラ仈(d谩)鍒伴浕娴佽窡韫ょ殑鏁堟灉锛屼娇绯荤当(t菕ng)鍏锋湁蹇€熺殑闊挎噳(y墨ng)閫熷害銆� 4 绯荤当(t菕ng)浠跨湡鍒嗘瀽 棰�(f膿ng)姗�(j墨)椤炶矤(f霉)杓変笅姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)绯荤当(t菕ng)鐨凚ackstepping鎺у埗绲�(ji茅)妲�(g貌u)妗嗗湒濡傚湒1鎵€绀�銆傛案纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)鐨勫弮鏁�(sh霉)濡傝〃1鎵€绀�銆� [align=center] 鍦�1 绯荤当(t菕ng)鎺у埗妗嗗湒 Fig 1 Diagram of system control[/align] [align=center]琛�1 姘哥鍚屾闆诲嫊(d貌ng)楗戝弮鏁�(sh霉) Tab l Parameters of PM SM [/align] 鍏朵腑锛岄ⅷ(f膿ng)姗�(j墨)椤炶矤(f霉)杓夊父鏁�(sh霉)鐢卞(sh铆)闅涙儏娉佽ō(sh猫)鐐篕[sub]m[/sub]=5锛�10[sup]-6[/sup]锛屽亣瀹氶€熷害鐨勫弮鑰冮€熷害鐐�500 r/min锛屽嵆淇濇寔棰�(f膿ng)閲忔亽瀹�銆� Back stepping鎺у埗鐨勫弮鏁�(sh霉)鐐� k=30锛宬[sub]1[/sub]=100锛宬[sub]2[/sub]=450 Back stepping鐨勪豢鐪熺祼(ji茅)鏋滆鍦�2銆傜敱浠跨湡绲�(ji茅)鏋滃彲浠ョ湅鍑�锛岀郴绲�(t菕ng)鐨凚ack stepping鎺у埗鑳藉浣跨郴绲�(t菕ng)閬�(d谩)鍒板揩閫熻窡韫�锛屽悓鏅�(sh铆)淇濊瓑绯荤当(t菕ng)鏈夎壇濂界殑鍕�(d貌ng)鎱�(t脿i)鎬ц兘銆� 5 绲�(ji茅)璜� 鏈枃鎶夿ack stepping鎺у埗绛栫暐鎳�(y墨ng)鐢ㄤ簬棰�(f膿ng)姗�(j墨)椤炶矤(f霉)杓夌殑棰�(f膿ng)澹撴亽瀹氭帶鍒朵腑锛岄€欑ó瑷�(sh猫)瑷�(j矛)鏄€氶亷L yapunov鍑芥暩(sh霉)渚嗕繚璀夌郴绲�(t菕ng)鐨勫叏灞€婕歌繎绌�(w臎n)瀹�锛屽畠鍙敤瑾�(di脿o)绡€(ji茅)k銆乲[sub]1[/sub]銆乲[sub]2[/sub]涓夊€�(g猫)鍙冩暩(sh霉)锛岀啊(ji菐n)鍖栦簡瑷�(sh猫)瑷�(j矛)鏂规硶锛岀偤棰�(f膿ng)姗�(j墨)椤炶矤(f霉)杓夋帶鍒舵彁鍑轰簡涓€绋柊鐨勬帶鍒剁瓥鐣�銆傚緸MATLAB浠跨湡鍙互寰楀嚭锛屽畠鑳藉緢濂藉湴璺熻工绲﹀畾锛屼娇棰�(f膿ng)姗�(j墨)椤炶矤(f霉)杓夋湁寰堝ソ鐨勭┅(w臎n)瀹氭€ц兘銆傚彟澶�锛屽畠鑸囧偝绲�(t菕ng)鐨勬帶鍒舵柟娉曠浉姣�锛岀瘈(ji茅)鐪佷簡鑳介噺锛屾彁楂樹簡鏁堢巼銆� 鍙冭€冩枃鐛�(xi脿n)锛� [1]Pillay P锛孠 rishnan R.Modeling of pemanentmagnet motot drives[J]. 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