© The Institution of Engineering and Technology
A new robust controller consisting of a nominal controller and a robust compensator is proposed. The controller is applied to a permanent magnet synchronous motors servo system to eliminate speed-tracking error due to time-varying load torque uncertainty and parameter perturbations. It is proved that the speed-tracking error can be made as small as desired if the initial conditions are zeros. For cases where the initial conditions are non-zero but bounded, after a finite transient period, the same speed-tracking error reduction can be achieved. Simulation results are presented to confirm the efficiency of the proposed method.
References
-
-
1)
-
K.S. Narendra ,
A.M. Annaswamy
.
(1989)
Stable adaptive systems.
-
2)
-
G. Zhu ,
L.-A. Dessaint ,
O. Akhrif ,
A. Kaddouri
.
Speed tracking control of a permanent-magnet synchronous motor with state and load torque observer.
IEEE Trans. Ind. Electron.
,
2 ,
346 -
355
-
3)
-
K. Yang ,
Y. Choi ,
W.K. Chung
.
On the tracking performance improvement of optical disk drive servo systems using error-based disturbance observer.
IEEE Trans. Ind. Electron.
,
1 ,
270 -
279
-
4)
-
F. Colamartino ,
C. Marchand ,
A. Razek
.
Torque ripple minimization in permanent magnet synchronous servodrive.
IEEE Trans Energy Conv.
,
3 ,
616 -
621
-
5)
-
E. Favre ,
L. Cardoletti ,
M. Jufer
.
Permanent-magnet synchronous motors: a comprehensive approach to cogging torque suppression.
IEEE Trans. Ind. Electron., S.T
,
6 ,
1141 -
1149
-
6)
-
C. Bohn ,
A. Cortabarria ,
V. Hartel ,
K. Kowalczyk
.
Active control of engine-induced vibrations in automotive vehicles using disturbance observer gain scheduling.
Control Eng. Pract.
,
1029 -
1039
-
7)
-
Zhong, Y.-S.: `Robust model matching control system design for SISO plants with large perturbations', Preprints of the 31st IEEE Conf. on Decision and Control, 1992, 2, Tucson, Arizona, p. 1470–1475.
-
8)
-
K.K. Shyu ,
C.K. Lai ,
Y.W. Tsai ,
D.I. Yang
.
A newly robust controller design for the position control of permanent-magnet synchronous motor.
IEEE Trans. Ind. Electron.
,
3 ,
558 -
565
-
9)
-
Y. Huang ,
W. Messner
.
A novel disturbance observer design for magnetic hard drive servo system with a rotary actuator.
IEEE Trans. Magn.
,
4 ,
1892 -
1894
-
10)
-
J. Holtz ,
L. Springob
.
Identification and compensation of torque ripple in high-precision permanent magnet motor drives.
IEEE Trans. Ind. Electron.
,
2 ,
309 -
320
-
11)
-
K.H. Kim ,
I.C. Baik ,
G.W. Moon ,
M.J. Youn
.
A current control for a permanent magnet synchronous motor with a simple disturbance estimation scheme.
IEEE Trans Control Syst. Tech.
,
5 ,
630 -
633
-
12)
-
S.T. Chen ,
C. Namuduri ,
S. Mir
.
Controller-induced parasitic torque ripples in a PM synchronous motor.
IEEE Trans. Ind. Appl.,
,
5 ,
1273 -
1281
-
13)
-
K.B. Lee
.
Disturbance observer that uses radial basis function networks for the low speed control of a servo motor.
IEE Proc., Control Theory Appl.
,
2 ,
118 -
124
-
14)
-
I.C. Baik ,
K.H. Kim ,
M.J. Youn
.
Robust nonlinear speed control of PM synchronous motor usinlg adaptive and sliding mode control techniques.
IEE Proc., Electr. Power Appl.
,
4 ,
369 -
376
-
15)
-
V. Petrovic ,
R. Ortega ,
A.M. Stankovic ,
G. Tadmor
.
Design and implementation of an adaptive controller for torque ripple minimization in PM synchronous motors.
IEEE Trans. Power Electron.
,
5 ,
871 -
880
-
16)
-
F.J. Lin ,
Y.S. Lin
.
A robust PM synchronous motor drive with adaptive uncertainty observer.
IEEE Trans. Energy Conv.
,
4 ,
989 -
995
-
17)
-
J.-H. She ,
Y. Ohyama ,
M. Nakano
.
A new approach to the estimation and rejection of disturbances in servo systems.
IEEE Trans. Control Syst. Tech.,
,
3 ,
378 -
385
-
18)
-
Zhong, Y.-S., Eisaka, T., Tagawa, R.: `Low-order robust model matching controller design for SISO plants', Proc. 11th IFAC World Congress, 1990, 3, Tallinn, Estonia, p. 191–196.
-
19)
-
Z.-Y. Shi ,
Y.-S. Zhong ,
W.-L. Xu
.
Decentralized robust tracking control for uncertain robots.
Electr. Eng.
,
4 ,
217 -
226
-
20)
-
J. Solsona ,
M.I. Valla ,
C. Muravchik
.
Nonlinear control of a permanent magnet synchronous motor with disturbance torque estimation.
IEEE Trans. Energy Conv.
,
2 ,
163 -
168
-
21)
-
S.K. Chung ,
H.S. Kim ,
C.G. Kim ,
M.J. Youn
.
A new instantaneous torque control of PM synchronous motor for high-performance direct-drive applications.
IEEE Trans. Power Electron.
,
3 ,
388 -
400
-
22)
-
Y.-S. Zhong
.
Robust output tracking control of SISO plants with multiple operating points and with parametric and unstructured uncertainties.
Int. J. Control
,
4 ,
219 -
241
-
23)
-
Zhong, Y.-S., Nagai, Y., Takeuchi, Y.: `Robust output tracking of a class of nonlinear time-varying uncertain systems', Proc. 14th IFAC World Congress, 1999, G, Beijing, China, p. 425–430.
-
24)
-
K.Y. Cho ,
J.D. Bae ,
S.K. Chung ,
M.J. Youn
.
Torque harmonics minimization in permanent magnet synchronous motor with back EMF estimation.
IEE. Proc., Electr. Power Appl.
,
6 ,
323 -
330
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta_20060165
Related content
content/journals/10.1049/iet-cta_20060165
pub_keyword,iet_inspecKeyword,pub_concept
6
6