随着列车运行速度不断提高,容易造成车轮滑行甚至空转,这严重影响了高速列车运行的安全性。因此,研究一种含有蠕滑状态约束的最优黏着防滑控制策略具有重要意义。在列车防滑控制算法的设计上,与之密切相关的包括以下几个重要方面:首先要解决的是机车车体速度难以准确实时测量的问题,并且蠕滑率（或蠕滑速度）控制对其依赖很大;然后是针对列车防滑控制器的设计问题,要尽可能地避免列车运行中不确定的黏着条件对防滑控制的影响,保证列车安全、稳定地运行;同时针对于如何设计期望跟踪目标的搜索算法的问题也急需解决,即实现列车的实际黏着工作点渐近跟踪期望黏着工作点。本文为了解决上述问题,主要进行了以下三方面的工作:（1）针对高速列车车体速度难以测量的问题,提出了一种基于EKF（扩展卡尔曼滤波）算法,以轮轨动力学及机车黏着模型为基础,利用EKF对机车的轮对速度和车体速度进行近似估计;（2）针对高速列车运行中出现的防滑及稳定性问题,设计了一种列车的全局防滑控制策略。通过设计一种混合控制器的切换实现列车的全局防滑控制,并且在控制器的设计中引入非对称障碍Lyapunov函数,保障列车在可行黏着区域的稳定性;（3）针对期望跟踪目标的获取问题,设计了一种变步长搜索算法,并且采用了一种滑模观测器对轮轨间的黏着状态作近似估计,用于搜索列车当前路况下的期望蠕滑速度,进而实现预期的防滑控制目标。理论分析及仿真实验都验证了算法的稳定性和有效性,实现了预期的控制目标。此外,总结了本文的主要研究内容、不足之处以及下一步研究计划。

Aiming at the problem that the overall control performance degradation of permanent magnet synchronous motor (PMSM) control system due to parameter perturbation when using traditional PI control algorithm, this paper proposed a speed loop improved model-free sliding mode control (IMFSMC) method. Firstly, a novel ultra-local model of PMSM with parameter perturbation was established. Secondly, the model-free sliding mode feedback controller in speed-loop was designed using an improved reaching law, the extended sliding mode disturbance observer (ESMDO) was used to estimate the unknown part in the ultra-local model simultaneously, and the stability of controller and observer were proved by Lyapunov stability theory. Finally, compared with PI control and conventional model-free sliding mode control, the simulation and experimental results show that the proposed method can effectively improve the transient and steady-state performance, reduce the dependence on the motor model, and improve the robustness and anti-interference performance of the system. © 2022 Chin. Soc. for Elec. Eng.

针对永磁同步电机（permanent magnet synchronous motor,PMSM）控制系统采用传统 PI 控制算法时因参数摄动而导致电机控制性能下降的问题，提出一种转速环改进型无模 型 滑 模 控 制 方 法 （improved model-free sliding mode control,IMFSMC）。首先，建立 PMSM 在参数摄动时的新型超局部模型。其次，采用一种改进趋近律设计转速环无模型滑模反馈控制器；同时利用扩展滑模扰动观测器（extended sliding mode disturbance observer,ESMDO）估计超局部模型中的未知部分，并通过 Lyapunov 稳定性理论证明了该控制器和观测器的稳定性。最后，与 PI 控制以及传统无模型滑模控制的仿真和实验对比，结果证明所提方法能有效改善 PMSM 在发生参数摄动时的暂稳态性能，降低对电机模型的依赖，提升系统鲁棒性和抗干扰性能。

This paper presents a novel model-free sliding mode control (MFSMC) method to improve the speed response of permanent magnet synchronous machine (PMSM) drive system. The ultra-local model (ULM) is first derived based on the input and the output of the PMSM. Then, the novel MFSMC method is presented, and the controller is designed based on ULM and MFSMC. A sliding mode observer (SMO) is constructed to estimate the unknown part of the ULM. The estimated unknown part is feedbacked to MFSMC controller to perform compensation for parameter perturbations and external disturbances. Com-pared with the sliding mode control (SMC) method, the results of simulation and experiment demonstrate that the presented MFSMC method improves the dynamic response and robustness of the PMSM drive system. © 2022, Tech Science Press. All rights reserved.

This paper presents a novel model-free sliding mode control (MFSMC) method to improve the speed response of permanent magnet synchronous machine (PMSM) drive system. The ultra-local model (ULM) is first derived based on the input and the output of the PMSM. Then, the novel MFSMC method is presented, and the controller is designed based on ULM and MFSMC. A sliding mode observer (SMO) is constructed to estimate the unknown part of the ULM. The estimated unknown part is feedbacked to MFSMC controller to perform compensation for parameter perturbations and external disturbances. Com-pared with the sliding mode control (SMC) method, the results of simulation and experiment demonstrate that the presented MFSMC method improves the dynamic response and robustness of the PMSM drive system. © 2022, Tech Science Press. All rights reserved.

In this paper, a novel method is presented to improve the speed-sensorless control performance of an interior permanent magnet synchronous motor using a nonsingular fast terminal sliding-mode observer and fractional-order software phase-locked loop. The interior permanent magnet synchronous motor system is first described. Next, a nonsingular fast terminal sliding mode observer is constructed to estimate the d-q-axis back electromotive force. The speed and position of the rotor are then accurately tracked using a fractional-order software phase-locked loop. The effectiveness and feasibility are verified through a simulation in MATLAB/Simulink. The results show an excellent performance despite a fluctuation in speed and torque ripple. © 2021 Fuji Technology Press. All rights reserved.

A demagnetization fault not only degrades the performance of a permanent magnet synchronous motor (PMSM) drive system, but also may even cause the irreversible demagnetization. This article presents an improved-sliding-mode-observer (ISMO) based equivalent-input-disturbance (EID) method to reconstruct a demagnetization fault and to perform fault-tolerant control for the demagnetization fault in a PMSM drive system. The models of healthy and demagnetized PMSM are first established. Next, an ISMO is constructed by inserting a decoupling term. It completely removes the influence of the motor speed on the reconstruction of a demagnetization fault. Then, the ISMO-based EID approach is developed to reconstruct the fault with the high precision and maintain system control performance even for a demagnetization fault. The stability of the whole system is proved by using the concept of globally uniformly ultimately bounded. Finally, the validity of the method is demonstrated using hardware-in-the-loop simulation.