The paper considers electrical drives control having a hierarchical cascaded structure. This structure has an inner current control loop and outer loops for speed and position control. The design of the control is performed using a discrete-time model of electrical drive. In all the loops, the discrete-time quasi sliding mode control is used for controller design because of its robustness to external and parametric matched disturbances (inherent to electrical drives) and the capability to ensure the desired dynamics. To enhance the robustness to disturbances, a nonlinear disturbance compensator is also implemented. The chattering in sliding mode is eliminated by using a new modified discrete-time super twisting control. The current and the speed controllers are designed for linear discrete-time first-order models, while the position controller is designed for a linear second-order discrete-time model. The axis position is measured by a mechanical sensor (encoder). The speed is estimated from the position measurements using Euler derivative approximation. Alternatively, it can be obtained by an observer. The proposed design is straightforward and results in high-performance, robust control with strong disturbance rejection capability and negligible overshoots. All theoretically obtained claims are demonstrated by experiments on an induction motor drive with a rotor field-oriented control structure.

本文考虑了具有分层级联结构的电驱动控制。该结构具有内部电流控制回路和用于速度和位置控制的外部回路。使用电驱动的离散时间模型执行控制的设计。在所有回路中，离散时间准滑模控制都用于控制器设计，因为它对外部和参数匹配干扰（电气驱动固有）具有鲁棒性，并且具有确保所需动态特性的能力。为了增强对干扰的鲁棒性，还实现了非线性干扰补偿器。通过使用新的改进的离散时间超级扭曲控制，消除了滑动模式下的颤动。电流和速度控制器设计用于线性离散时间一阶模型，而位置控制器则设计用于线性二阶离散时间模型。轴位置由机械传感器（编码器）测量。使用欧拉导数近似法从位置测量值估算速度。或者，它可以由观察者获得。提出的设计简单明了，可实现高性能，鲁棒的控制，并具有强大的干扰抑制能力和超调量可以忽略不计。所有理论上获得的权利要求均通过对具有转子磁场定向控制结构的感应电动机驱动器的实验进行了证明。提出的设计简单明了，可实现高性能，鲁棒的控制，并具有强大的干扰抑制能力和超调量可以忽略不计。所有理论上获得的权利要求均通过对具有转子磁场定向控制结构的感应电动机驱动器的实验进行了证明。提出的设计简单明了，可实现高性能，鲁棒的控制，并具有强大的干扰抑制能力和超调量可以忽略不计。所有理论上获得的权利要求均通过对具有转子磁场定向控制结构的感应电动机驱动器的实验进行了证明。