Abstract
The problem of overlarge current protection of permanent magnet synchronous motor based on a single-loop control structure is discussed in this article. Under this structure, the previous limiting method of amplitude of q-axis current used in field-oriented control is unsuitable, which limits q-axis current by restricting the output of reference current. Conventional controllers (e.g. proportional–integral–derivative controller) usually cannot have a nice balance between satisfaction of current constraint and requirement of fast dynamic performance. Overlarge current may cause the damage of hardware. Aiming at this issue, a composite controller is proposed. Different from previous methods of state constraints, the effects of disturbance is taken into account of controller design. First, a finite-time current-constrained feedback control technique based on homogeneous approach is applied in the feedback design. Compared with conventional finite-time control, a punishment mechanism of over-current is added into the gain of controller. Second, a generalized proportional integral observer is adopted to estimate the uncertainties and disturbances. The estimated value is used in the feed-forward compensation design. Compared with the conventional proportional–integral–derivative controller and proportional–derivative + extended state observer controller, the proposed method not only limits q-axis current to a safe range but also shows a nice dynamic performance and a strong anti-disturbance ability. Both simulations and experiments are carried out, and the results demonstrate the effectiveness of the proposed control scheme.
Highlights
Attributing to the advantages of simple structure, small size, light weight, high power, efficiency, torque-to-inertia, and so on, permanent magnet synchronous motor (PMSM) is widely applied in aeronautics and astronautics, numerical control machines, robots, electric automobiles, and other industrial fields.[1,2,3,4,5]So far, a cascade structure is widely used in PMSM control systems under the well-known field-oriented control (FOC) framework
As the speed loop and the current loop are merged into one loop, the q-axis current becomes a state of PMSM control system instead of the output of current loop in the cascade control
Our method can be considered as a composition of finite-time current-constrained feedback control plus feed-forward compensation based on generalized proportional integral observer (GPIO)
Summary
Attributing to the advantages of simple structure, small size, light weight, high power, efficiency, torque-to-inertia, and so on, permanent magnet synchronous motor (PMSM) is widely applied in aeronautics and astronautics, numerical control machines, robots, electric automobiles, and other industrial fields.[1,2,3,4,5]So far, a cascade structure is widely used in PMSM control systems under the well-known field-oriented control (FOC) framework. Keywords Finite-time current-constrained controller, anti-disturbance, generalized proportional integral observer, permanent magnet synchronous motor According to the above analysis, for PMSM with current constraints under the single-loop structure, the controller design problem should be considered from following aspects: (1) the satisfaction of the current constraint, (2) good dynamic and steady performances, and (3) strong ability of anti-disturbances.
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