Abstract
This paper presents a robust current tracking controller for permanent magnet synchronous motors (PMSMs) with a performance recovery property for electric power steering (EPS) applications. The contributions of this work are twofold. First, a disturbance observer (DOB) is designed to compensate the disturbances arising from the model–plant mismatches while reducing the closed-loop sensitivity. Second, a current controller is designed to improve the current tracking performance in the frequency domain by assigning the performance recovery property to the closed-loop system. The closed-loop performance is verified through simulations and experiments using a 500 W PMSM connected to an EPS system.
Highlights
The permanent magnet synchronous motor (PMSM) has received widespread acceptance for use in precise industrial tasks for high-performance applications
The electric power steering (EPS) system, which is a human assist device, is a device that assists the driver with steering torque, and PMSMs are mainly used in EPS systems for high-precision performance
This paper proposes a disturbance observer (DOB)-based robust current control method for uncertain PMSMs with transient performance recovery for EPS applications
Summary
The permanent magnet synchronous motor (PMSM) has received widespread acceptance for use in precise industrial tasks for high-performance applications. Parameter identification with adaptive control [7,8,9] in the control algorithm provides a good convergence characteristic; due to the convergence speed of each parameter, the control bandwidth is difficult to satisfy in actual applications that require a fast transient response Another widespread method to guarantee robust performance, namely, the sliding mode control technique in [10,11,12,13], has great disturbance rejection performance, but the switching characteristics of the control input cause an excessive control action, resulting in the control system being overly sensitive. This paper proposes a DOB-based robust current control method for uncertain PMSMs with transient performance recovery for EPS applications. The proposed control method is proven on a PMSM that is connected to the mechanical steering shaft of an actual vehicle, and the control response is recovered to achieve the desired performance when the torque load and motor speed change dynamically. Analysis of the algorithms is suggested through time domain derivations of the proposed control and the frequency domain design guideline
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