Abstract
For reducing the steady state speed ripple, especially in high performance speed servo system applications, the steady state precision is more and more important for real servo systems. This paper investigates the steady state speed ripple periodic disturbance problem for a permanent magnet synchronous motor (PMSM) servo system; a fuzzy adaptive repetitive controller is designed in the speed loop based on repetitive control and fuzzy information theory for reducing periodic disturbance. Firstly, the various sources of the PMSM speed ripple problem are described and analyzed. Then, the mathematical model of PMSM is given. Subsequently, a fuzzy adaptive repetitive controller based on repetitive control and fuzzy logic control is designed for the PMSM speed servo system. In addition, the system stability analysis is also deduced. Finally, the simulation and experiment implementation are respectively based on the MATLAB/Simulink and TMS320F2808 of Texas instrument company, DSP (digital signal processor) hardware platform. Comparing to the proportional integral (PI) controller, simulation and experimental results show that the proposed fuzzy adaptive repetitive controller has better periodic disturbance rejection ability and higher steady state precision.
Highlights
IntroductionOver the past few decades, the permanent magnet synchronous motor (PMSM) has high performance industrial servo applications owing to its high performance, such as compact structure, high air-gap flux density, high power density, high torque to inertia ratio and high efficiency [1,2,3,4,5,6,7,8,9,10,11,12,13]
The propose method is based on this basic ideal and because of the unknown ripple frequency in the permanent magnet synchronous motor (PMSM) servo system; so the fuzzy adaptive repetitive controller is proposed in this paper
The parameters of the PMSM used in the simulation are given as: rated power P = 750 W, rated voltage U = 200 V, number of poles n p = 4, armature resistance Rs = 1.74 Ω, stator inductances Ld = Lq = 0.004 H, viscous damping B = 7.403 ×10−5 N·m·s/rad, momentum of inertia J = 1.78 × 10−4 kg·m2, rated speed n = 3000 rpm, rotor flux linkage φ = 0.1167 wb, rated torque
Summary
Over the past few decades, the permanent magnet synchronous motor (PMSM) has high performance industrial servo applications owing to its high performance, such as compact structure, high air-gap flux density, high power density, high torque to inertia ratio and high efficiency [1,2,3,4,5,6,7,8,9,10,11,12,13]. The work in [35] reported a periodic signal tracking problem for a mechanical system based on an adaptive repetitive controller, which can adaptively obtain the information of the reference signal period They all consider only one frequency component for the steady state speed ripple, but in real industry applications, the speed ripple is not the only frequency component. Different from other methods, firstly, this paper considers two speed ripple frequencies, which in relation to speed by theoretically analysis and experimental verification, does not have only one speed ripple frequency It designs the fuzzy adaptive repetitive controller in the speed loop for reducing the speed ripple, for which the controller parameter can be adjusted based on the fuzzy logic relationship with speed and steady state speed ripple frequency.
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