Abstract
For the speed tracking control problem of Permanent Magnet Synchronous Motor (PMSM), a disturbance observer-based (DOB) backstepping speed tracking control method is presented in this paper. First, to reconstruct the load disturbance, a slowly time-varying disturbance observer for PMSM is constructed. Next, by stability theory, the norm of the observation error and disturbance observer design method are obtained. On the basis of these, through the designing of the virtual control input that include the reconstruction disturbances, and using backstepping control strategy, the DOB controller of the closed-loop system is proposed. The obtained controller can achieve high precision speed tracking and disturbance rejection. Finally, some results of evaluative experiments verified the effectiveness of the proposed method for high-performance control and disturbance rejection for the PMSM drive.
Highlights
Permanent magnet synchronous motor (PMSM) is receiving increasing attention in high-performance industrial servo applications due to its advantages such as high torque to current ratio, super power density, and fast response, as well as low noise [1, 2]
Various design methods have been developed for PMSM control systems, such as adaptive control [3], robust control [4], neural network control [5], predictive control [6], and so on
Taking into account the unobservable of the systems states, a backstepping control method for speed sensorless PMSM based on slide model observer was proposed in [22], in which the slide model observer was designed by using slide model control technique and phase loop lock (PLL) method
Summary
Permanent magnet synchronous motor (PMSM) is receiving increasing attention in high-performance industrial servo applications due to its advantages such as high torque to current ratio, super power density, and fast response, as well as low noise [1, 2]. To improve the control performances in PMSM systems, much attention has been given to disturbance reject-based control method [7], which are insensitive to parameter variations and external disturbances. The proposed control system obtained high control performance and was robust against to external load disturbance and parameter variations. By means of a nonlinear and adaptive backstepping design method, a speed and current control scheme for PMSM was presented in [20], in which all the parameters in both PMSM and load dynamics were considered unknown. Taking into account the unobservable of the systems states, a backstepping control method for speed sensorless PMSM based on slide model observer was proposed in [22], in which the slide model observer was designed by using slide model control technique and phase loop lock (PLL) method.
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