Speed Control Of Permanent Magnet Synchronous Motor Research Articles

Research on linear/nonlinear active disturbance rejection switching control of PMSM speed servo system

An improved linear/nonlinear active disturbance rejection switching control strategy is proposed to enhance the dynamic response and disturbance suppression capabilities of the permanent magnet synchronous motor (PMSM) speed servo system. Firstly, facilitated by a tracking differentiator, rapid setpoint tracking is achieved without speed overshoot, effectively addressing the inherent conflict between fast system response and overshooting. Secondly, weight factors are introduced into the control law, and a novel switching criterion based on the step function is designed, enabling the system to smoothly transition between operating modes in the presence of disturbances with varying amplitudes. This facilitates accurate estimation and swift compensation for disturbances, thereby enhancing control precision and robustness. Additionally, a frequency domain analysis of the extended state observer is conducted, leading to the formulation of a parameter tuning scheme for the controller. Lastly, simulation tests validate the feasibility and effectiveness of this strategy as a PMSM speed controller. The system exhibits superior dynamic tracking and disturbance suppression performance over a wide speed range.

Fixed-Time-Convergent Sliding Mode Control with Sliding Mode Observer for PMSM Speed Regulation.

This paper focuses on the speed control of a permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and external disturbances. Conventional sliding mode control (CSMC) can only converge asymptotically in the infinite domain and will cause unacceptable sliding mode chattering. To improve the performance of the PMSM speed loop in terms of response speed, tracking accuracy, and robustness, a hybrid control strategy for a fixed-time-convergent sliding mode controller (FSMC) with a fixed-time-convergent sliding mode observer (FSMO) is proposed for PMSM speed regulation using the fixed-time control theory. Firstly, the FSMC is proposed to improve the convergence speed and robustness of the speed loop, which can converge to the origin within a fixed time independent of the initial conditions. Then, the FSMO is used as a compensator to further enhance the robustness of the speed loop and attenuate sliding mode chattering. Finally, simulation and experimental results show that the proposed method can effectively improve the dynamic performance and robustness of the PMSM speed control system.

An improved sliding mode speed controller for PMSM based on new terminal reaching law with generalized proportional integral observer

A compound sliding mode controller for permanent magnet synchronous motor (PMSM) based on an adaptive terminal sliding mode reaching law with generalized proportional integral observer is proposed. First, an adaptive terminal reaching law is proposed to solve the defects of large chattering in commonly used sliding mode control, which consists of a piecewise function and a terminal term of state variables. The reaching law could adjust the gain according to the distance between the system state and the equilibrium point. On the premise of reducing chattering, a higher reaching speed is guaranteed. The convergence time has an upper bound and is not concerned with the initial value of the sliding mode variable. Based on the reaching law, an adaptive sliding mode controller is established. Second, to reduce the sliding mode gain and enhance the antidisturbance ability of the PMSM, a generalized proportional integral observer is established to evaluate the perturbations in PMSM and compensate them to the speed controller in real time. Simulations and experiments verify that the new compound control method has a faster-approaching speed, smaller chattering, and stronger antidisturbance ability than other methods.

Design of PMSM Dual-Loop Control Systems Integrating LADRC and PI Controllers via an Improved PSO Algorithm

This paper is concerned with the design of a dual-loop control system for permanent magnet synchronous motor (PMSM). An improved linear extended state observer (LESO) with excellent estimation capability is employed to develop an improved linear active disturbance rejection control (LADRC) suitable for PMSM speed regulation, achieving outstanding disturbance suppression in PMSM speed control. The use of an internal model control scheme to initialize the parameters of the proportional-integral- (PI-) based current controller simplifies the search space of the control system parameter optimization. An improved particle swarm optimization (PSO) algorithm is applied to optimize the controller parameters, thereby enhancing the overall system performance. Finally, through a series of simulations and experiments, we validate that our proposed controller exhibits superior performance compared to some other control methods.

Comparative Investigation of DSP-Based Speed Control of PMSM Using Proportional Integral and Takagi-Sugeno Fuzzy Logic Controller

This paper presents the simulation and experimental results of speed control of a three-phase Permanent Magnet Synchronous Motor (PMSM). The control techniques employed in this work include a Proportional Integral (PI) controller and a Takagi-Sugeno Fuzzy Logic Controller (TS-FLC). While theory and simulation help in predicting the PI controller settings for real drive implementation, further adjustment of the PI controller coefficients is still needed for optimal performance. However, the complexity of PI controller tuning can be overcome by employing a fuzzy logic controller, which is less affected by variations in model parameters and load torque. Two variants of the proposed TS-FLC are implemented: a simple algorithm with 9 rules and a standard algorithm with 49 rules. The drive system utilizes Field Oriented Control (FOC). The control program is developed using the C/C++ programming language and executed on the Texas Instruments TMS320LF28335 Digital Signal Processor (DSP), known for its intelligent motor control capabilities. The drive system evaluation was performed through simulations and experimentation using the MCK28335 professional development kit provided by Technosoft Company. The simulation and experimental results of the proposed controllers are compared under various conditions, including speed reversal and load torque variations.

Speed Control of PMSM Based on Fuzzy Active Disturbance Rejection Control under Small Disturbances

Permanent Magnet Synchronous Motors (PMSMs), with their simple design, small size, and high-power factor, are ideally suited for realizing high-power AC drives and are widely used in various industries. In this study, Fuzzy Active Disturbance Rejection Control (Fuzzy-ADRC) is used to control the speed of the PMSM. When a slight external disturbance occurs, this control strategy maintains the suppression characteristics of the self-excited control for the disturbance and enhances its ability to compensate for the disturbance. First, a mathematical model was developed to study the surface mount PMSM. Then, a motor control simulation model was created using PI control, vector control, and other control methods. The verification results indicate that the improved Fuzzy-ADRC system performs well under both internal and external minor disturbances. It exhibits a faster dynamic response and reduced regulation time (0.026 s to 0.017 s) compared to the traditional ADRC system. Furthermore, it shows less overshoot (reduced from 70% to 2.9%) compared to the Sliding Mode Observer (SMO). Taken together, the improved Fuzzy-ADRC system is characterized by small steady-state error, high load capacity, and control accuracy. With the assistance of this control strategy, the system can track speed with high accuracy and possesses stronger anti-interference capability to mitigate load disturbances.

A novel sliding mode control with MRAS inertia identification for permanent magnet synchronous motors

To enhance the anti-inertia disturbance ability of permanent magnet synchronous motor (PMSM) speed system, an adaptive sliding mode control with inertia identification is proposed. A novel sliding mode control (NSMC) based on a new reaching law coupled with model reference adaptive system (MRAS) inertia identification is realized the adaptive control, named MRAS+NSMC. In the NSMC construct process, an integral sliding mode surface and a variable speed reaching law are introduced to avoid speed differentiation and improve dynamics, respectively. And the new reaching law imported a successive sigmoid( s) to replace the traditional sign( s) to suppress chattering phenomena. For the problem that the performance deteriorated by rotational inertia variation caused by load changes, the inertia is estimated in real time according to the MRAS theory, and the identification value is updated to the NSMC controller to realize adaptive MRAS+NSMC speed control. Experimental results show that the proposed adaptive MRAS+NSMC control has a faster speed response, and the speed response time is reduced from 85 to 49 ms compared with conventional SMC control. In addition, it has strong robustness to inertia disturbances and high speed tracking accuracy. Compared with conventional SMC, the speed tracking accuracy of proposed MRAS+NSMC is increased from 12% to 4%. This makes the proposed MRAS+NSMC control has great potential practical significance for speed control of PMSM.

A Fast Sliding Mode Speed Controller for PMSM Based on New Compound Reaching Law With Improved Sliding Mode Observer

To reduce the convergence time and improve the anti-disturbance capability of the permanent magnet synchronous motor (PMSM) drivers, a fast sliding mode speed controller based on a new compound reaching law (NCRL) and disturbance observer compensation technique is proposed. Firstly, to solve the conflict between fast convergence rate and chattering reduction in the existing solutions, the NCRL is proposed by introducing the exponential function and the power term piecewise function. The convergence of NCRL is proved and the reaching time is certified to be independent of the system’s initial state. The proposed NCRL can effectively reduce the reaching time, and smooth the output signal while maintaining the high tracking performance of the controller under different conditions. However, external load disturbances may degrade the performance of the proposed NCRL-based speed controller. The proposed controller is then combined with an improved sliding mode observer (ISMO), named the NCRL+ISMO method, to improve the estimation accuracy of the lumped disturbance and the robustness of the system. The stability of the proposed method is analyzed by the Lyapunov function. Experimental results show that the proposed method can reduce speed fluctuation and convergence time, and enhance anti-disturbance capability.

Study of External Energy Gun Automata Firing Control Based on Permanent Magnet Synchronous Motor

In this paper, an external energy gun automata firing control method based on permanent magnet synchronous motor (PMSM) is presented. Firstly, on the basis of PMSM voltage equation and coordinate transform, current loop decoupling controllers are derived via the expected current closed loop time constant. The d-axis current and q-axis current can be tuned independently. Through the given mid-frequency interval criterion, the PMSM speed control method can be designed. Secondly, in order to implement the external energy gun automata firing control, the combined angle according to PMSM position and its over one circle count is solved first. The position controller is designed via Lyapunov stable theory. Last, an experiment is executed on a real external energy gun automaton and a PMSM position control system to verify the proposed method. The firing rate and firing shells length can be controlled. In order to decrease the firing rate without decrease PMSM speed, multiple single shells fired with given interval method can also be established and achieved. The experiment results verify the effectiveness of the proposed approach.

Speed Control for Variable Speed PMSM Drive System Using Nonlinear Variable-Horizon Predictive Functional Control

Electrohydrostatic actuators (EHAs) adopted variable speed permanent magnet synchronous motor (PMSM) drive systems are widely used by surface actuation systems in more electrical aircraft. However, the dynamic performance and the antidisturbance performance of EHA need to be improved due to the limited dynamic response of variable speed PMSM drive systems and uncertain aerodynamic disturbance. To improve the transient-state operation, nonlinear variable-horizon predictive functional control (NVHPFC) is proposed for the speed controller of the variable speed PMSM drive system. By analyzing the relationship between the prediction horizon and the electromagnetic torque, a nonlinear variable predictive horizon strategy is presented, which replaces the fixed predictive horizon in classical PFC. Aiming to improve the prediction accuracy and antidisturbance performance of NVHPFC, a discrete prediction error compensation strategy is incorporated with the NVHPFC. Meanwhile, the stability of the proposed method is verified by the Lyapunov function in the discrete domain. Finally, simulation and experimental results of the proposed method show stronger antidisturbance, smaller overshoot, and shorter settling time performance compared with the classical PFC method based on a field-programmable gate array (FPGA) test bench.

Fractional Order Sliding Mode Controller Based on Supervised Machine Learning Techniques for Speed Control of PMSM

Tracking the speed and current in permanent magnet synchronous motors (PMSMs) for industrial applications is challenging due to various external and internal disturbances such as parameter variations, unmodelled dynamics, and external load disturbances. Inaccurate tracking of speed and current results in severe system deterioration and overheating. Therefore, the design of the controller for a PMSM is essential to ensure the system can operate efficiently under conditions of parametric uncertainties and significant variations. The present work proposes a PMSM speed controller using machine learning (ML) techniques for quick response and insensitivity to parameter changes and disturbances. The proposed ML controller is designed by learning fractional-order sliding mode control (FOSMC) controller behavior. The primary purpose of using ML in FOSMC is to avoid the self-tuning of the parameters and ensure the speed reaches the reference value in finite time with faster convergence and better tracking precision. Furthermore, the ML model does not require the mathematical model of the speed controller. In this work, several ML models are empirically evaluated on their estimation accuracy for speed tracking, namely ordinary least squares, passive-aggressive regression, random forest, and support vector machine. Finally, the proposed controller is implemented on a real-time hardware-in-the-loop (HIL) simulation platform from PLECS Inc. Comparative simulation and experimental results are presented and discussed. It is shown from the comparative study that the proposed FOSMC based on ML outperformed the traditional sliding mode control (SMC), which is more commonly used in industry in terms of tracking speed and accuracy.

Disturbance-Observer-Based Second-Order Sliding Mode Controller for Speed Control of PMSM Drives

This paper explicitly proposes a novel second-order sliding mode (SOSM) controller based on disturbance observer (DOB) to optimize the disturbance rejection property of the permanent magnet synchronous motor (PMSM) system. Firstly, to tackle the inevitable chattering problem in conventional first-order sliding mode controllers, a new type of SOSM control technique is designed for the speed loop of PMSM system by retaining the discontinuous switching function in the derivative of the actual controller. The proposed controller can not only provide the strong anti-disturbance performance, but also significantly attenuate the potential chattering problem. Then, a DOB constructed based on the auxiliary system is further adopted to compensate the adverse effect generated by the disturbance to enhance dynamical performance. Finally, comprehensive experimental results are provided to verify the effectiveness of the proposed method.

Decoupled Speed and Flux Control of Three-Phase PMSM Based on the Proportional-Resonant Control Method

Field-oriented control (FOC) has achieved great success in permanent magnet synchronous motor (PMSM) control. For the PMSM drive, FOC allows the motor torque and flux to be controlled separately, which means the torque and flux are decoupled from each other. Since the torque control is achieved by the speed controller, it can be considered that the speed and the flux of the PMSM are also decoupled from each other and can be controlled separately. In this paper, we propose a PMSM vector control using decoupled speed and flux controllers based on the proportional-resonant (PR) control method. A flux controller is proposed to control the flux of the PMSM and generate the d-axis reference current, whereas the speed regulator is used to generate the torque as well as the q-axis reference current. The PR controller is proposed to control the dq-axis currents and generate the reference voltages; its design is included.Therefore, decoupled speed and flux controllers are controlled separately using the PR controller. The Matlab/Simulink environment is utilized for the simulation, while the dSPACE DS1104 is used for the experimental work. The proposed control method is simple; there are no flux or torque estimators required, so it can avoid the complexity of estimators in the control scheme. The motor is tested under different scenarios, including flux change, speed change, and load torque change. The simulation and hardware results show the effectiveness of the proposed control method in controlling the the speed and the flux of PMSM with fast motor response and good dynamic performance in the different scenarios.

Method for Fault Diagnosis and Speed Control of PMSM

In the field of fault tolerance estimation, the increasing attention in electrical motors is the fault detection and diagnosis. The tasks performed by these machines are progressively complex and the enhancements are likewise looked for in the field of fault diagnosis. It has now turned out to be essential to diagnose faults at their very inception; as unscheduled machine downtime can upset deadlines and cause heavy financial burden. In this paper, fault diagnosis and speed control of permanent magnet synchronous motor (PMSM) is proposed. Elman Neural Network (ENN) is used to diagnose the fault of permanent magnet synchronous motor. Both the fault location and fault severity are considered. In this, eccentricity fault may occur in the motor. To control the speed of the permanent magnet synchronous motor, Dolphin Swarm Optimization (DSO) algorithm is used. The proposed work is simulated by using MATLAB in terms of amplitude, speed and torque. The comparison graph of speed vs. torque obtained by the proposed method gives better result compared to the other existing techniques. The proposed work is also compared with Particle Swarm Optimization (PSO) and Elephant Herding Optimization (EHO) algorithm. The proposed usage of Elman Neural Network to detect the fault and the usage of Dolphin Swarm Optimization algorithm to control the speed of the permanent magnet synchronous motor gives better outcome.

A Novel Sensitivity Analysis to Moment of Inertia and Load Variations for PMSM Drives

A high-performance electrical drive with a permanent magnet synchronous motor (PMSM) should ensure superior dynamic properties, reasonable load torque compensation, and robustness against parameter variations. The performance investigation related to the dynamic properties is usually made using the step response indicators and integral performance indexes. The robustness evaluation is more complex than performance analysis since there are no simple tools for this purpose, especially if it is done experimentally to consider nonlinearities and unmodeled dynamics of the plant. In this article, sensitivity functions suitable for investigating the closed-loop control systems in the time and the frequency domain are proposed, explained, and experimentally verified. Three control schemes designed for the speed control of PMSM are analyzed: a cascade control structure, robust two-degrees-of freedom speed controller, and a cascade-free constrained state feedback controller. Studies are conducted for experimental responses of the drive in the time and the frequency domain to investigate the sensitivity of the PMSM drive against the moment of inertia and load variations. Analysis of nonlinearities influence on the developed sensitivity functions is also presented.

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.

Active Disturbance Rejection Control for Speed Control of PMSM Based on Auxiliary Model and Supervisory RBF

External vibration, shock, unbalanced torque and other uncertain disturbances are mainly transmitted to the motor rotor through the bearing friction. To restrain the uncertain friction disturbances and improve the speed stability of a permanent magnet synchronous motor (PMSM), an optimized active disturbance rejection control (ADRC) algorithm is proposed in this study. Firstly, an auxiliary model of friction and a reduced-order processing method are introduced into extended state observation (ESO) to reduce the burden of single ESO and promote the compensation accuracy of disturbances. In addition, a supervisory radial basis function (SRBF) is employed to supervise and promote the error elimination efficiency of the nonlinear state error feedback rate (NLSEF). The hybrid control algorithm makes up for the deficiency of typical ADRC through the fusion of multiple control quantities. Simulation and experimental results show that the proposed algorithm has strong anti-disturbance performance and effectively solves the problem of low-speed crawling.

Cascade-Free Modulated Predictive Direct Speed Control of PMSM Drives

Conventional predictive control for permanent magnet synchronous motors (PMSMs) contains dual speed and current loops, and has a complex structure and multiple parameters to be tuned. Conventional predictive direct speed control (PDSC) exhibits an unsatisfactory steady-state performance. To tackle these issues, this paper presents a cascade-free modulated PDSC (MPDSC) scheme for PMSM drives. First, a speed predictive model is built, where a second-order sliding mode observer is employed to quickly and robustly estimate the load torque. Then, a dual objective cost function with speed and stator current tracking is designed, which improves the system’s steady-state performance. Furthermore, the analytical solution of the constrained optimal voltage vector is derived and it is synthesized by space vector modulation, resulting in a fixed switching frequency. Experimental results show that the proposed MPDSC has stronger robustness, and lower torque ripples and stator current harmonics compared to conventional PDSC.

A Practical Disturbance Rejection Control Scheme for Permanent Magnet Synchronous Motors

This paper proposes a novel disturbance rejection control scheme for permanent magnet synchronous motor (PMSM) drives. Based on the framework of modified disturbance observer (DOB)-based control, the final topology of the proposed disturbance rejection proportional–integral (DR-PI) controller includes a pre-filter and a controller in a proportional–integral (PI) form. The proposed DR-PI control scheme is practical with a straightforward gain tuning rule. Note that the gain selection method is the main issue of not only conventional PI controllers but also advanced methods such as DOB-based controllers. In addition, by starting from the framework of modified DOB, this paper also proves that the PI controller with an pre-filter possesses a disturbance rejection ability similar to a DOB-based control method. To the best of our knowledge, this is the first time that such a simple and effective PI controller is designed for the speed control of PMSMs as well as theoretically proven to have a perfect disturbance rejection ability. This paper shows the steps of selecting the parameters of the proposed controller in terms of the parameters of a desired plant model, disturbance observer and compensator. Hence, unlike a traditional DOB case, in this approach, one can simultaneously tune the controller and observer at the same time. The appearance of the pre-filter from the modified DOB scheme solves an overshoot problem, thus the general motor operation is significantly improved, which is validated by experiments. The experimental evidence under two scenarios of load torque change and speed change prove the effectiveness of the proposed method compared to conventional PI and DOB control (DOBC) schemes. All the experiments were implemented on a 300 W PMSM of a setup manufactured by Lucas-Nuelle GmbH with a digital signal processor.

Fast integral terminal sliding mode control with a novel disturbance observer based on iterative learning for speed control of PMSM

This study revolves about the speed control of a permanent magnet synchronous motor (PMSM) with torque ripple and external disturbance. To enhance the performance of the PMSM speed control in response, robustness and torque ripple suppression, a hybrid control technique is presented by combining a novel disturbance observer based on iterative learning strategy (ILC-DOB) and a fast integral terminal sliding mode control (FITSMC) method. Firstly, an iterative learning law is used to enhance the conventional high-gain disturbance observer (DOB) to improve the estimation performance for periodic disturbance. Then, a new fast integral terminal sliding mode surface is proposed to increase the tracking error convergent speed of the traditional integral terminal sliding mode control (ITSMC) when the speed error is distant from the equilibrium point. Finally, the estimated total disturbance is incorporated as a feed-forward compensation to the enhanced FITSMC. According to experimental results, the presented method can ensure better speed-tracking performance and significant disturbance rejection capability of the PMSM drive system.