基于超螺旋滑模观测器的AGV永磁电机调速仿真

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中图分类号：U463 收稿日期：2025-04-28 DOI：10.19999/j.cnki.1004-0226.2025.07.027

Simulation of AGV Permanent Magnet Motor Speed Regulation with Improved Super-twisting Sliding Mode Observer

Wang Long Zhang Yun School ofRail Transit，Shandong Jiaotong University，Jinan 25o357，China

Abstract：Inordertoimprove theanti-chateringabilityofpermanentmagnetsynchronousmotors （PMSMs）withoutpositioncontrol，thispaprdesignsanimprovedsuper-twistingsldingmodeobserver（SO）thatreplacestetraditionalswitchngfunction withanovelswitchingfunctionThisnovelswitchingfunctionissmoothandcontinuous，whichsolvestheproblemsofinsucientcontrolaccuracyandistabilitycausedythediscotiityofteswitchngfunctioatheorigin.enphase-lockedloopisadoptedtoreplacetherctangentfunctionforetractingtherotorpositioninformationfromtheoservedback-electromotiveforceFinally，MATABsimulationssowthatthespeed-regulatingsystemoftePMwithtesuper-twistingslidingmodeobseeruderthe novelswitchingfunctionandthephase-ckedloohasbeterchateringsuppressionandanti-disturbancecapabilitiescomparedwith those under the traditional sliding mode observer and the super- twisting sliding mode observer.

Keywords：Permanent magnet synchronous motor;Improved super-super-twisting sliding modeobserver；Switching function Phase-locked loop

1前言

在自动导引车（automated guided vehicle，AGV）的核心驱动系统中，永磁同步电机（PMSM）凭借其高功率密度、高转矩密度和高效率等显著优势，成为动力系统的理想选择。（剩余3264字）