新型滑模自抗扰起重机电机控制系统研究

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中图分类号：TM351 文献标识码：A DOI：10.7535/hbkd.2026yx01005

Abstract： In order to enhance the response speed of the permanent magnet synchronous motor（PMSM） in cranes and the robustness ofthesystem，animproved indexlaw wasproposed.Thenew sliding modecontrol（NSMC）inthespeed 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 chatering caused by the discontinuity of the sign function. A new extended state observer（NESO）was designedto observe disturbancesand furtheroptimize the spedcontroler.Thefal（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. Theresults show thatthe motorsped is stableatapproximatelyO.O5safter starting，with a speed oscilationof about10r/min It verifies thecorrectness of thecontrolleralgorithm.Thedesigned algorithmcan effectively improve theresponse speed of the system and provide reference for the control of PMSM in cranes.

Keywords：electrical machinery；permanent magnet synchronous motor；new sliding mode control；new extended state observer；chattering；crane

起重机械是现代生产中重要的搬运设备，广泛应用于车间、码头、港口等地方。（剩余10705字）