Robust Speed Control for Permanent Magnet Synchronous Motors Using a Generalized Predictive Controller With a High-Order Terminal Sliding-Mode Observer

Meng Shao,Jing Liu,Yongting Deng,Hongwen Li,Qiang Fei

doi:10.1109/access.2019.2937535

Abstract

This paper reports the optimal speed control of a permanent magnet synchronous motor (PMSM) system. The predictive control method is an effective strategy for a fast dynamic response. The undesirable performance in the presence of system disturbances, including internal model uncertainties and external load disturbances, is analyzed. To achieve a fast response and ensure stronger robustness and improved disturbance rejection performance simultaneously, a robust generalized predictive controller (GPC) with a high-order terminal sliding-mode observer (HOTSMO) is proposed for a PMSM control system. The proposed observer can estimate the unknown disturbances with chattering elimination. A feed-forward compensation based on the estimated disturbances is provided to the predictive speed controller. The simulation and experimental results show that the proposed control method can achieve a better speed dynamic response and a stronger robustness.

Highlights

The permanent magnet synchronous motor (PMSM) has been gradually replacing DC and induction motors for a wide range of drive applications, because of its advantages such as high efficiency, high power density, high torque-toinertia ratio, and good reliability [1], [2]
This paper proposes a robust generalized predictive controller (GPC) with a high-order terminal sliding-mode observer (HOTSMO) to obtain a fast dynamic response and ensure a simple control structure
DESIGN OF HIGH-ORDER TERMINAL SLIDING-MODE OBSERVER To avoid complicating the structure of the basic GPC while ensuring a fast dynamic response and overcoming the influence of system disturbances on the speed control performance, a robust GPC with a HOTSMO is proposed

Summary

INTRODUCTION

The permanent magnet synchronous motor (PMSM) has been gradually replacing DC and induction motors for a wide range of drive applications, because of its advantages such as high efficiency, high power density, high torque-toinertia ratio, and good reliability [1], [2]. This paper proposes a robust GPC with a high-order terminal sliding-mode observer (HOTSMO) to obtain a fast dynamic response and ensure a simple control structure. According to (8) and (18), without considering the disturbance term, the predictive control action of the nominal system up(t) can be derived: up(t) = B−1[ ( With this control law, the controller can realize a fast dynamic response; in industrial applications, the control performance of the predictive speed controller will deteriorate in the presence of significant parameter mismatches and/or external disturbances. DESIGN OF HIGH-ORDER TERMINAL SLIDING-MODE OBSERVER To avoid complicating the structure of the basic GPC while ensuring a fast dynamic response and overcoming the influence of system disturbances on the speed control performance, a robust GPC with a HOTSMO is proposed. The sliding-mode control gain l1 and feedback gain l2 can be obtained as follows: l1 > |Tωv| l2 > |c|

SIMULATION AND EXPERIMENTAL RESULTS

Findings

CONCLUSION