Abstract
The speed regulation problem of permanent magnet synchronous motor system is investigated under a noncascade structure. Despite its superiority in straightforward control design, simple parameter adjustment, and satisfying system dynamic performance, the structure brings two problems: the overcurrent protection and unmatched disturbance rejection. Under this structure, the current cannot any more be restricted by a reference value, and ought to be constrained within a certain range to ensure the circuit safety. Besides, unmatched disturbances, mainly caused by external load torques, may result in undesired interference and violate the constraint requirement, since they affect the current directly via the same channel. Toward that end, a novel current-constrained control algorithm is designed to tackle the current constraint and unmatched disturbances simultaneously. A disturbance observer (DOB) is utilized for unmatched disturbance estimation. A constraint coping mechanism is constructed to restrict the current. Then, a key nonlinear item is proposed by augmenting the disturbance estimation and the constrained current. Finally, a composite controller is proposed with concise structure and rigorous closed-loop stability analysis. Numerical and experimental tests further validate that the proposed control approach achieves promising speed tracking performance and guarantees the current constraint in the presence of unmatched disturbances.
Highlights
P ERMANENT magnet synchronous motors (PMSMs) have been paid abundant attention and broadly adopted in various practical applications, such as power generations, robotics and electric vehicles [1]–[3], because of their compact structure, high efficiency and power density [4].With technical development, there is little difference between the control periods of the inner and outer-loops
To the best of our knowledge, it is the first time in the literature to explicitly solve this problem with rigorous closed-loop stability analysis; 2) For speed regulation of PMSMs, a new current-constrained control algorithm is proposed to simultaneously fulfill the overcurrent protection task and compensate undesirable effects of unmatched load torque variations; 3) By virtue of a key nonlinear item via a disturbance observer (DOB) and a constraint coping mechanism, the proposed control algorithm exhibits promising control performance, and guarantees the current constraint effectively, even in the presence of unmatched disturbances; 4) The proposed control algorithm can be extended to many motion control systems with second-order dynamics due to the concise control structure and the complete theoretic guarantees
The parameter tuning criterion should comprehensively take into account system stability, dynamic performance, current constraint satisfaction and robustness against unmatched disturbances
Summary
P ERMANENT magnet synchronous motors (PMSMs) have been paid abundant attention and broadly adopted in various practical applications, such as power generations, robotics and electric vehicles [1]–[3], because of their compact structure, high efficiency and power density [4]. To the best of our knowledge, it is the first time in the literature to explicitly solve this problem with rigorous closed-loop stability analysis; 2) For speed regulation of PMSMs, a new current-constrained control algorithm is proposed to simultaneously fulfill the overcurrent protection task and compensate undesirable effects of unmatched load torque variations; 3) By virtue of a key nonlinear item via a DOB and a constraint coping mechanism, the proposed control algorithm exhibits promising control performance, and guarantees the current constraint effectively, even in the presence of unmatched disturbances; 4) The proposed control algorithm can be extended to many motion control systems with second-order dynamics due to the concise control structure and the complete theoretic guarantees
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