Abstract
Considering the performance requirements in actual applications, a look-up table based fractional order composite control scheme for the permanent magnet synchronous motor speed servo system is proposed. Firstly, an extended state observer based compensation scheme was adopted to suppress the motor parametric uncertainties and convert the speed servo plant into a double-integrator model. Then, a fractional order proportional-derivative (PDμ) controller was adopted as the speed controller to provide the optimal step response performance for the servo system. A universal look-up table was established to estimate the derivative order of the PDμ controller, according to the optimal samples collected by an improved differential evolution algorithm. With the look-up table, the optimal PDμ controller can be tuned analytically. Simulation and experimental results show that the servo system using the composite control scheme can achieve optimal tracking performance and has robustness to the motor parametric uncertainties and disturbance torques.
Highlights
With high power density and efficiency, the permanent magnet synchronous motor (PMSM) has been widely used in modern industrial applications, e.g., numerical control machines and industrial robots
It is widely known that the proportional–integral–derivative (PID) control approach is the most widely used in the industrial field, because of its simple implementation and clear physical meaning in control engineering [1]
In actual applications, the PMSM servo system is unavoidably faced with various uncertainties and disturbances [2,3]
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have