Abstract
The field oriented control (FOC) strategy of the permanent magnet synchronous motor (PMSM) includes all the advantages deriving from the simplicity of using PI-type controllers, but inherently the control performances are limited due to the nonlinear model of the PMSM, the need for wide-range and high-dynamics speed and load torque control, but also due to the parametric uncertainties which occur especially as a result of the variation of the combined rotor-load moment of inertia, and of the load resistance. Based on the fractional calculus for the integration and differentiation operators, this article presents a number of fractional order (FO) controllers for the PMSM rotor speed control loops, and id and iq current control loops in the FOC-type control strategy. The main contribution consists of proposing a PMSM control structure, where the controller of the outer rotor speed control loop is of FO-sliding mode control (FO-SMC) type, and the controllers for the inner control loops of id and iq currents are of FO-synergetic type. Superior performances are obtained by using the control system proposed, even in the case of parametric variations. The performances of the proposed control system are validated both by numerical simulations and experimentally, through the real-time implementation in embedded systems.
Highlights
The permanent magnet synchronous motor (PMSM) is widely used in industrial applications, the aerospace industry, electric vehicles, robotics, electric drives and computer peripherals.The popularity of using the PMSM for a very wide range of applications is due to a set of advantages such as efficiency, small size, high power and high torque density
The direct torque control (DTC) strategy is characterized by a simpler structure in terms of controllers which are generally ON-OFF, but inherently the performance of the control system is affected by the occurrence of oscillations
The field oriented control (FOC) strategy controllers are PI type. This approach includes all the advantages provided by the simplicity of using such controllers, but inherently the control performances are limited due to the nonlinear model of the PMSM, the need for wide-range and high-dynamics speed and load torque control, and due to the parametric uncertainties which occur especially as a result of the variation of the combined rotor-load moment of inertia, and of the load resistance
Summary
The permanent magnet synchronous motor (PMSM) is widely used in industrial applications, the aerospace industry, electric vehicles, robotics, electric drives and computer peripherals.The popularity of using the PMSM for a very wide range of applications is due to a set of advantages such as efficiency, small size, high power and high torque density. For the control of the PMSM, a number of algorithms and control strategies have been developed, both in the range of the classic type of control, and as through modern and unconventional approaches. The FOC strategy contains a cascade control structure, where the outer loop controls the PMSM rotor speed, and the inner control loops control currents id and iq. The FOC strategy controllers are PI type This approach includes all the advantages provided by the simplicity of using such controllers, but inherently the control performances are limited due to the nonlinear model of the PMSM, the need for wide-range and high-dynamics speed and load torque control, and due to the parametric uncertainties which occur especially as a result of the variation of the combined rotor-load moment of inertia, and of the load resistance
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