Abstract
This paper proposes a simple $1^{\mathrm {st}}$ -order disturbance observer (DO)-based optimal control (DOBOC) strategy for surface-mounted permanent magnet synchronous motor (SPMSM) drives. A detailed comparative analysis of three reduced-order (i.e., $1^{\mathrm {st}}$ , $2^{\mathrm {nd}}$ , and $3^{\mathrm {rd}}$ ) DOs has been presented in terms of structural complexity along with transient and steady-state performances. A simple $1^{\mathrm {st}}$ -order DOBOC is proposed with a considerably simple and easy gain tuning procedure without any complex equation and time-consuming weighting matrices selection while ensuring a competitive control performance. Also, the stability of three DOBOCs is proven using the Lyapunov function, which has not been carried out in the previous studies. Furthermore, this paper provides a detailed procedure to systematically select the controller and observer gains of three reduced-order (i.e., $1^{\mathrm {st}}$ , $2^{\mathrm {nd}}$ , and $3^{\mathrm {rd}}$ ) DOBOC by experiment. Comparative experiments are performed to confirm the feasibility of the proposed $1^{\mathrm {st}}$ -order DOBOC using a prototype SPMSM test-bed with a TI TMS320F28335 DSP. Finally, verification results and comparative table are presented to compare the speed tracking performance (e.g., transient response, undershoot (US), steady-state error (SSE), and robustness to load torque disturbances) of three reduced-order DOBOC methods under speed and load torque step-changes.
Highlights
Permanent magnet synchronous motor (PMSM) drives such as surface-mounted PMSMs (SPMSMs) and interior PMSMs (IPMSMs) have been applied in various industrial sectors including automation robots, machine tools, and electric vehicles because of their clear benefits such as simple structure, wide speed range, high efficiency, and high power density [1]‒[3]
This paper proposes a simple 1st-order disturbance observerbased optimal control (DOBOC) scheme and presents the comparative analysis of three reducedorder (i.e., 1st, 2nd, and 3rd) DOBOC methods for SPMSM drives to choose the optimal order of three disturbance observer (DO) that attains high transient performance and robustness under critical conditions with minimal structural complexity
This paper proposes a simple 1st-order DOBOC for SPMSM drives and presents the comparative analysis of the 1st, 2nd, and 3rd-order DOBOC to prove an acceptable transient performance and robustness of the proposed scheme under speed and load torque step-changes
Summary
Permanent magnet synchronous motor (PMSM) drives such as surface-mounted PMSMs (SPMSMs) and interior PMSMs (IPMSMs) have been applied in various industrial sectors including automation robots, machine tools, and electric vehicles because of their clear benefits such as simple structure, wide speed range, high efficiency, and high power density [1]‒[3]. Despite the good transient and steady-state performances of nonlinear DOBC methods [11]‒[16], they have limited applicability because of a highly complex structure (e.g., complicated mathematical calculations and DO complexity associated with the use of high-order in their structure) [17] This leads to the exploration of the 3rd-order disturbance observer-based optimal control (DOBOC) methods that maintain the intrinsic advantages of optimal controllers (e.g., fast dynamic response, simple mathematical structure, and easy implementation) [18], [19]. They cope with the external disturbances which can significantly degrade the steady-state performance (e.g., steady state error (SSE)) and transient performance (e.g., overshoot, undershoot, and recovery time) of PMSM drives [20]. Verification results and comparison table are given to clearly show the competitive tracking performance of the proposed 1st-order DOBOC against conventional optimal controller without DO, and conventional 2nd and 3rd-order DOBOC, such as transient response, undershoot (US), SSE, and robustness against load torque disturbances
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