Abstract
A novel digital implementation of speed controller for a Permanent Magnet Synchronous Motor (PMSM) with disturbance rejection using conventional observer combined with Extended Kalman Filter (EKF) is proposed. First, the EKF is constructed to achieve a precise estimation of the speed and current from the noisy measurement. Second, a proportional integral derivative (PID) controller is developed based on Linear Quadratic Regulator (LQR) to achieve speed command tracking performance. Then, an observer is designed and its error is utilized to provide load disturbance compensation. The proposed method greatly enhances the PMSM performance by reducing the control signal variation as well as the disturbance. The speed control performance is significantly improved compared to the case when we have an observer acting alone. The simulation results for the speed response and variation of the states when the PMSM is subjected to the load disturbance are presented. The results verify the effectiveness of the proposed method.
Highlights
Permanent Magnet synchronous Motor (PMSM) has a high torque/inertia ratio, high speed, high efficiency as well as high reliability and is of compact size
The Permanent Magnet Synchronous Motor (PMSM) model is constructed to verify the speed control and load disturbance rejection using the conventional observer combined with Extended Kalman Filter (EKF)
The output drive current and speed are estimated through the observer theory and EKF algorithm is implemented using S-Function block
Summary
Permanent Magnet synchronous Motor (PMSM) has a high torque/inertia ratio, high speed, high efficiency as well as high reliability and is of compact size. These qualities render PMSM as one of the most applicable AC machines for servo control applications and PMSM is gaining extensive research attention in recent years [1,2,3]. For high performance of PMSM that drives the vector control theory is applied, in which 3-ф stationary frame transforms into 2-ф synchronously rotating rotor reference frame; the flux and torque can be controlled independently, similar to the DC motor [4,5,6]. The aim of the observer design is to reduce the observation error, but it is used to serve as feed forward compensation for the load disturbance in the proposed method [8]
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