Abstract
The article describes a new approach to control of permanent magnet synchronous motor drive based on the analysis of the electromechanical transformation. The proposed control system provides quick response and low ripple of the motor torque and flux. To synthesis this control system, the authors put the electromagnetic torque and the modulus of stator flux vector as controlled values and use the Lyapunov’s second method. In addition, the stator voltage constriction and ability of low-pass filtration are taken into account. The investigation of the proposed control system has carried out with the simulation and the experimental research which have confirmed that the proposed control system correspond to all above-mentioned control tasks and the permanent magnet synchronous motor controlled under this system may be recommended to use in robotics.
Highlights
A permanent magnet synchronous motor (PMSM) is a type of electric motor having a low mass and inertia and small time constants that nowadays become widely used as a input force source, for example in robotics
There are many researches dealing with PMSM control system [1-17] that may be classified by optimization criteria: the minimum time [4, 5, 7, 8, 10,11,12, 17], the minimum loss [2, 16], the minimum torque ripple [1, 3, 6, 9, 17] and the minimum flux ripple [11, 17]
T Tl, where λ is the rotor flux; usd, usq, isd, isq, ψsd, ψsq are the vector components of the stator voltage the stator current and the stator flux correspondingly; L is the stator inductance; R is the stator resistance; p is the number of pole pair; Tl is the load torque; J is the rotor inertia; ω is the rotor speed
Summary
A permanent magnet synchronous motor (PMSM) is a type of electric motor having a low mass and inertia and small time constants that nowadays become widely used as a input force source, for example in robotics. There are many researches dealing with PMSM control system [1-17] that may be classified by optimization criteria: the minimum time [4, 5, 7, 8, 10,11,12, 17], the minimum loss [2, 16], the minimum torque ripple [1, 3, 6, 9, 17] and the minimum flux ripple [11, 17]. The new torque control system of PMSM with quick response and low ripple, which match well with robotics tasks, is given below
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