Magnet Synchronous Motor Speed Control Research Articles

Permanent magnet synchronous motor speed control system based on fractional order integral sliding mode control

Permanent magnet synchronous motor speed control system based on fractional order integral sliding mode control

Disturbances rejection optimization based on improved two-degree-of-freedom LADRC for permanent magnet synchronous motor systems

Permanent magnet synchronous motor (PMSM) speed control systems with conventional linear active disturbance rejection control (CLADRC) strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances. In order to address these issues, this paper proposes an improved two-degree-of-freedom LADRC (TDOF-LADRC) strategy, which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning. PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately. Moreover, to evaluate the control performance of the TDOF-LADRC strategy, its stability is proven, and the influence of each controller parameter on the system control performance is analyzed. Based on it, a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances. Finally, experiments are performed on a 750 W PMSM experimental platform, and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.

Generalized Data-Driven Model-Free Predictive Control for Electrical Drive Systems

The performance of model predictive control has a strong correlation to the precision of the physical parameters of the plant, and these parameters are hard to determine since they are continuously changing during the operation process. To fully eliminate the influence of the physical parameters and enhance robustness, a model-free predictive control is proposed in this article to suit the electrical drive systems. The plant model is designed as several discrete-time transfer functions used to decouple the input and output signals and to describe their relationships, and the coefficients of these functions are online designed based on the recursive least square algorithm. An observer is designed to obtain accurately sampled current components considering the delays. The proposed method is applied to a permanent magnet synchronous motor speed control system as the stator current controller, and the simulation and experimental results show the advantages of the improved dynamics, stator current quality, and robustness compared with the conventional model-free predictive current control strategy.

Autoregressive Moving Average Model-Free Predictive Current Control for PMSM Drives

To eliminate the influence of the parameter mismatches and obtain high model quality, a model-free predictive current control (MF-PCC) strategy based on the autoregressive moving average (ARMA) structure is proposed in this paper and applied to the permanent magnet synchronous motor (PMSM) speed control system. Since the ARMA model group which is a family of mathematical models containing AR, MA and ARMA structures considers operating states within several sampling periods to achieve better model accuracy, the plant is online designed as this type, and its coefficients are estimated according to the sampled data by the normalized least-mean-square (NLMS) algorithm with adaptive normalized step length to achieve improved model quality with reduced calculation burden. Compared with the ultra-local MF-PCC strategy, advantages of better stator current quality and robustness are demonstrated by the experimental results, as well as the reduced calculation burden compared with the recursive least square (RLS) algorithm used to estimate the coefficients.

Analytical Fractional-Order PID Controller Design With Bode’s Ideal Cutoff Filter for PMSM Speed Servo System

In this article, a speed control scheme based on an analytically designed fractional-order PID with Bode’s ideal cutoff (FOPID-BICO) filter is proposed. The FOPID controller is designed to track the speed references and the BICO suppress is applied to filter the high-frequency noise. Considering the difficulty of parameters tuning of the FOPID controller, a comprehensive analytical design method based on frequency specifications-defined loop-shaping for the FOPID-BICO controller is first proposed for the permanent magnet synchronous motor speed control. The designed speed servo system satisfies five frequency-domain specifications: gain crossover frequency, phase margin, phase crossover frequency, gain margin, and a “flat phase” constraint. Moreover, the influence of phase crossover frequency on control system is fully exposed through the frequency-domain analysis. The proposed designed method ensures that the control system is robust to loop gain variations and guarantees the optimal performance on rejecting noise in high-frequency and disturbance in low-frequency. The effectiveness of the proposed FOPID-BICO controller has been verified by experimental results.

Non-singular terminal extended sliding mode control of permanent magnet synchronous motor based on variable exponential reaching law

A non-singular terminal extended sliding mode control method based on variable exponential reaching law is presented because the permanent magnet synchronous motor speed control system is subject to parameter disturbance, external disturbance, and end effect. In order to accomplish global rapid convergence and get rid of singularity, a non-singular terminal extended sliding mode surface is first created. After the system reaches the sliding mode surface, a new extended state variable is constructed in accordance with the first-order angular velocity model, and a new better exponential reaching law is utilized to eliminate chattering. Finally, a disturbance observer is designed to detect the disturbance during motor operation in real-time and add it to the speed control loop as a compensation. The simulation findings demonstrate that, in comparison to the conventional sliding mode control strategy, the suggested variable-parameter non-singular terminal sliding mode control strategy lowers the effect of disturbance on the motor’s real operation and has the benefits of rapid convergence speed, good resilience, minimal speed overshoot, and high control precision.

Second-Order Sliding Mode Control of Permanent Magnet Synchronous Motor Based on Singular Perturbation

The second-order sliding mode control has strong robustness. Its application has greatly improved the anti-jamming ability of permanent magnet synchronous motor(PMSM) speed control systems. However, the influence of noise is unavoidable due to the introduction of a differentiator in the second-order sliding mode control, and the steady-state performance of the system is poor due to the absence of a q-axis current loop. This paper proposes a second-order sliding mode control method based on singular perturbation, which decouples the PMSM speed control system into two subsystems, the slow subsystem, including the speed variable, adopts second-order sliding mode control, and the fast subsystem, including the current variable of q-axis, adopts linear control. The design of a sliding surface for the slow subsystem avoids the application of the differentiator, which reduces the chattering better. Besides this, the steady-state performance of the system is improved due to the introduction of the feedback current of the q-axis. Experimental results show that the proposed method has strong robustness and can achieve high-precision control.

PMSM sliding mode control based on novel reaching law and extended state observer

To improve the dynamic quality and control performance of the permanent magnet synchronous motor speed control system, a novel sliding mode control method with improved reaching law for PMSM was proposed, which has a shorter reaching time and small system chattering. An extended state observer (ESO) based on the hyperbolic tangent function for the sliding mode controller is designed to realize the real-time tracking of the mechanical angular velocity and load disturbance of the motor, which can weaken the influence of the internal parameter perturbation and external load disturbance. The performance of the novel sliding mode controller for PMSM was simulated based on MATLAB/Simulink. An experimental platform based on dSPACE is built. The simulation and experimental results show that this novel PMSM controller can effectively suppress the system chattering and improve the dynamic performance and robustness of the system.

Research on Improved Current Predictive Control of Permanent Magnet Synchronous Motor

Aiming at the motion control problem in permanent magnet synchronous motor speed control system, an improved deadbeat current predictive control algorithm based on fuzzy PID control is proposed. In this algorithm, the traditional PID control uses fuzzy control to realize real-time parameter adjustment, it eliminates the overshoot of the system; The improved deadbeat current predictive control is adopted in the current loop, and the control output of the speed loop is taken as the input of the current loop. the output speed of the motor is adjusted, so feedback control is formed to obtain accurate and fast track performance. The simulation results show that the control algorithm is fast and robust under no-load and disturbance conditions, which verifies the feasibility and effectiveness of the algorithm.

SPMSM Sliding Mode Control Based on the New Super Twisting Algorithm

To achieve the high-performance control of the surface-mounted permanent magnet synchronous motor (SPMSM) speed control system, this paper proposes a high-order sliding mode control strategy based on a new super twisting algorithm (NSTA). This strategy introduces an adaptive term in its proportional term based on the original super twisting algorithm, which solves low reaching speed and poor antidisturbance ability due to the square root calculation of proportional term in the original super twisting algorithm. The simulation results show that the proposed strategy can effectively improve the system’s response speed and antidisturbance and greatly suppress the chattering phenomenon of traditional sliding mode control.

Permanent Magnet Synchronous Motor Speed Control Based on Improved Active Disturbance Rejection Control

An improved active disturbance rejection control (I-ADRC) to improve the disturbance attenuation of a permanent magnet synchronous motor speed controller was proposed in this paper. A nonlinear function with improved smoothness was adopted to design the controller. The Lyapunov stability of the improved tracking differentiator, the improved extended state observer, and the controller were analysed. Moreover, simulations and experiments confirmed the effectiveness of the proposed controller. The results demonstrate that the proposed controller has a smaller steady-state error and a stronger disturbance attenuation ability than the proportional integral derivative (PID) controller.

Improved Auto Disturbance Rejection Control Based on Moth Flame Optimization for Permanent Magnet Synchronous Motor

AbstractIn this paper, an improved auto disturbance rejection controller (ADRC) is applied to permanent magnet synchronous motor (PMSM) speed control system. Specifically, the improved ADRC is proposed to solve the defect that the nonlinear function of traditional ADRC is not differentiable at the piecewise point. In addition, considering that there are numerous parameters to be optimized in ADRC, an improved moth‐flame optimization (MFO) is proposed to obtain ADRC parameters, and adaptive inertia weight coefficient and optimization mechanism based on the fusion of refraction operation and chaotic search are proposed to improve the convergence speed and optimization accuracy for MFO. Simulation and experimental results show that the improvement strategies proposed in this paper can increase the optimization performance for MFO algorithm effectively so that obtained more appropriative ADRC parameters. The improved ADRC can effectively improve the tracking control performance of PMSM speed control system. © 2021 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

Research of Active Disturbance Rejection Controller Design for PMSM Servo System

In the permanent magnet synchronous motor (PMSM) speed control system, an improved active disturbance rejection control strategy with higher tracking accuracy for time-varying input is proposed. The traditional active disturbance rejection controller is mainly used for fast and static-free tracking of step signals, but there is a large tracking error for time-varying signals, which limits the application of active disturbance rejection controller. In this paper, the theoretical analysis of the existence of steady-state error is carried out, and then an improved speed active disturbance rejection controller (ADRC) with derivative feedforward and parallel linear extended state observer(P-LESO) is designed to reduce the tracking error of the system. In order to observe and compensate the reverse electromotive force in real time and reduce the current following error, a current loop linear active disturbance rejection controller is designed. By constructing Simulink simulation model for verification, the control system not only improves the tracking accuracy of PMSM for time-varying input, but also has a good dynamic performance for step input.

Research on Model Predictive Control Based on Sensorless Permanent Magnet Synchronous Motor

For permanent magnet synchronous motor (PMSM) speed control system, aiming at the problems of slow dynamic response and large dependence on system model parameters of traditional PI control of PMSM, the model predictive current control strategy is adopted to design the predictive model. Aiming at the problems of poor reliability and high cost of traditional permanent magnet synchronous motor with mechanical sensor, the speed sensorless control technology is introduced to design the control structure, and the rotor position and speed are estimated by sliding mode observer method. Through simulation verification, the results show that the combination of the above two control methods can obviously improve the performance of the traditional permanent magnet synchronous motor control system, and has strong robustness under the conditions of motor parameters and load changes.

Research on Permanent Magnet Synchronous Motor Speed Control System Based on Three-Order Linear Active Disturbance Rejection Controller

Linear active disturbance rejection control (three-order LESO+PD control) and fuzzy PID control strategies are used to simulate the same permanent magnet synchronous motor with variable speed (constant load) and variable load (constant speed), by observing and analyzing the oscilloscope waveform data and waveform changes in Matlab/Simulink, we can compare the control performance of the two control algorithms under different conditions. By comparing the waveform changes of the oscilloscope, it is found that LADRC has more advantages in real-time than fuzzy PID, and the fluctuation is smaller after stabilization. However, the linear auto disturbance rejection control algorithm is more likely to cause overshoot, and it is not as easy to master as fuzzy PID in parameter adjustment. The two control algorithms have their own advantages and disadvantages.

Deep reinforcement learning for permanent magnet synchronous motor speed control systems

The permanent magnet synchronous motor (PMSM) servo system is widely applied in many industrial fields due to its unique advantages. In this paper, we study the deep reinforcement learning (DRL) speed control strategy for PMSM servo system, in which exist many disturbances, i.e., load torque and rotational inertia variations. The speed control problem is formulated as a Markov decision process problem, which is computed optimal regulation scheme corresponding to each speed and error state using the deep Q-networks. Simulation results are provided to demonstrate that compared with conventional proportion integral control, the proposed DRL control can improve the robustness against load disturbances and high performance of the PMSM speed control system.

A Neural Network based Frequency-domain Design Method for the Optimal Fractional Order PI λ D μ Controller

A neural network (NN) based frequency-domain design method for the optimal PI λ D μ controller is proposed in this paper, dividing the tuning process of the PI λ D μ controller into two steps: the fractional orders of the controller are estimated by the NN based estimation models, and other controller parameters are calculated analytically using a modified frequency-domain method. A practical application of the proposed method on the permanent magnet synchronous motor (PMSM) speed control problem is studied. Motor speed control simulation is performed to verify the gain robustness, step response performance and anti-load disturbance performance of the obtained control system. Comparison with the typical frequency-domain method is performed and then the advantage of the proposed method is demonstrated.

Optimal preview repetitive control with application to permanent magnet synchronous motor drive system

In this paper, the problem of optimal preview repetitive control (OPRC) for continuous-time linear systems is proposed. First, an augmented dynamic system including the derivative of the state vector and the output of the basic repetitive controller is constructed by using lift technique. Then, a new performance index is denoted, which transforms the tracking problem into a linear quadratic regulation problem. Based on the optimal control theory, the explicit optimal preview repetitive controller is obtained, which combination of the state feedback, the integral action related to the tracking error, the basic repetitive controller and the preview compensation. Finally, the developed design techniques are applied to permanent magnet synchronous motor (PMSM) speed control problem. The simulation results demonstrate the validity of the proposed method.

FPGA-Based Sensorless Speed Control of PMSM Using Enhanced Performance Controller Based on the Reduced-Order EKF

In permanent magnet synchronous motor (PMSM) speed control, the PI closed-loop control model for current does exist. Although the standard PI closed-loop control has the basic tracking capability from the PMSM control system, however, the expected tracking performance is actually difficult to obtain due to the existence of noise. So in this article, for improvement of the tracking performance, we construct a compensating controller based on extended Kalman filters (EKFs) without changing the existing PI control loop and form a closed-loop controller with enhanced performance. Meanwhile, the gain of the compensating control can be obtained by optimizing the entropy of tracking error. Furthermore, in order to reduce computational resources and improve the accuracy of motor state estimation, we adopt the parallel reduced-order EKFs. All of these are implemented on a single field-programmable gate array (FPGA) chip and verified through simulations. In addition, we also adopt principles of parallel and pipeline design during control framework design based on an FPGA chip, which improve the execution speed of FPGA-based control algorithm and reduced the logic elements used in the chip. Finally, experiments were carried out on a PMSM-based FPGA platform, which verified the feasibility and effectiveness of the proposed PMSM control.

Improved frequency‐domain design method for the fractional order proportional–integral–derivative controller optimal design: a case study of permanent magnet synchronous motor speed control

An improved frequency-domain method for the fractional order PI λ D μ controller design is proposed in this study. A proportional relation between the integral gain and derivative gain of the controller is built, while the derivative order is set to be equal to the integral order. Applying the improved method, the PI λ D μ controller parameters can be calculated analytically according to different design requirements. The proportional coefficient between the integral and derivative gains is studied and then the model of the optimal proportional coefficient for the commonly used permanent magnet synchronous motor speed control system is built. Based on the established model, the optimal PI λ D μ controllers are obtained analytically applying the proposed method. Motor speed control simulations and experiments are performed, comparing the performance of the controllers obtained using the proposed method and those obtained using the current frequency-domain method and other design methods. Simulation and experimental results show that the control system obtained using the proposed method achieves the specified stability, robustness to gain variations and the optimal dynamic performance.