Abstract
Permanent magnet synchronous motors (PMSMs) have attracted great attention in the field of electric drive system. However, the disturbances caused by parameter mismatching, model uncertainty, external load and torque ripple seriously weaken the control accuracy. The traditional adaptive sliding mode control (ASMC) methodology can address slow-varying uncertainties/disturbances whose frequencies are located at the bandwidth of the filter used to design the adaptive law well; however, it has been barely discussed with respect to the periodic situation. In this paper, we extend the ASMC arrangement to periodic case to suppress the torque ripple by using a series-structure resonant controller. Firstly, a typical SMC is designed to force the tracking error of speed to converge to zero and obtain a certain capacity to disturbance. Then, the improved adaptive law is incorporated to estimate the lumped disturbance and torque ripple. The improved adaptive law is enhanced by embedding the resonant controller, which can obtain a better estimating result for torque ripple with repetitive feature. Finally, simulation and experimental results with PI, SMC and proposed methods are compared to verify the effectiveness of the developed controller.
Highlights
To suppress the disturbance caused by parameter mismatching, external load and torque ripple, this paper proposes an improved adaptive sliding mode control law for
It shoud be noted that the parameters of the motor can not be changed in the practical operation; it is we change the motor parameters involved in the controller with j = 3j0 and b = 20b0
The adaptive sliding mode control (ASMC) combining with enhanced adaptive law and Sliding mode controller (SMC) techniques exhibits better control performances in terms of dynamic response, anti-disturbance and torque ripple suppression than the proportional integral (PI), SMC schemes
Summary
Permanent magnet synchronous motors (PMSMs) have been widely applied in the fields of robotics, electric propulsion ships and numerical control machines due to the superiorities such as high-power density, high-torque ratio and wide-speed regulation range, etc. Comparing with the surface-mounted PMSM, the interior one has the advantages of simpler manufacturing process and higher power density. Its magnetic flux leakage coefficient and manufacturing cost are larger than those of surface mounted rotor structure. The surface-mounted PMSM can obtain excellent control performances such as precise tracking trajectory, fast transient response and satisfactory robustness to external disturbances, and is of great concern in precise manufacturing with high-performance requirements. The motors of the two structures have practical applications in different occasions, it is necessary to develop a disturbance compensation strategy independent of the model of the motor
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