Adaptive backstepping control of permanent magnet synchronous servo motor based on dSPACE

Abstract

The adaptive backstepping nonlinear speed controller of permanent magnet synchronous servo motor (PMSSM) with uncertain parameters is designed in this paper. The inertia, viscous friction coefficient and load torque which are vulnerably affected by external disturbances can be estimated in real time. A second-order filter is adopted to reduce the speed overshoot in the starting course of PMSSM. On the basis of cancelling initial rotor position error, position and velocity feedback subsystem based on dSPACE/DS3002 is designed. Permanent magnet synchronous servo motor speed control system model based on adaptive backstepping control algorithm is established in Simulink. With dSPACE system and the external drive circuit, the completed control system hardware-in-loop real-time simulation is achieved successfully. Simulation and experimental results show that the stator flux of adaptive backstepping nonlinear speed controller stator flux is convergence, and the whole control system is global uniform convergence. The whole control system can remain its good speed dynamic tracking performance and strong robustness when system parameters and load torque disturbances appeared.