Design and implementation of a novel adaptive backstepping control scheme for a PMSM with unknown load torque

Abstract

In this study, a novel adaptive backstepping control method is proposed to handle the position tracking problem of the permanent magnet synchronous motor (PMSM) system with unknown load torque. Firstly, a novel load torque update law which is different from the traditional load torque update law is obtained based on the position error and estimated torque error. Then, a novel adaptive backstepping controller is presented under the circumstance of estimated load torque. The asymptotic stability of the overall system is verified by using Lyapunov stability theory. The novel load torque update law guarantees the accurate estimation and improves the convergence speed of the estimated load torque. The designed controller improves the position tracking performance and ensures stability of the closed-loop system. Finally, real-time experiment results with LINKS-RT platform intuitively exhibit that the proposed control method ensures position tracking performance and retains good load torque disturbance attenuation.

Adaptive Sliding Mode Based Position Tracking Control for PMSM Drive System With Desired Nonlinear Friction Compensation

“…Typically, the dynamic model of PMSM drive system contains mainly two parts, namely, the PMSM model and the mechanical model. The PMSM model in d-q-axis can be described by the following equations [1][2][3][4].…”

“…Although widely used in the position tracking control of PMSM drive system, there is no doubt that it is harder and harder for the traditional PID control to fulfil the increasing control performance demands of modern industrials. To improve the control performance of PMSM drive system, several advanced control methods have been proposed in recent years, such as adaptive control [4][5], mode predictive control [6][7], active disturbance rejection control [8][9] and intelligent control [10][11].…”

Speed Regulation Based on Adaptive Control and RBFNN for PMSM Considering Parametric Uncertainty and Load Fluctuation

“…Additionally, J and B are uncertain due to various factors, including the inconsistent production, the mechanical wear, the change of the temperature, and the complicated work conditions [9]. The load is complicated and fluctuates due to the nonlinear friction and complicated work conditions [11].…”

“…However, the motor parameters, including the moment of inertia ( J ) and the viscous friction coefficient ( B ), are uncertain due to various factors, including the inconsistent production, the mechanical wear, the change of the temperature, and the complicated work conditions [9], [10]. Furthermore, there is complicated load fluctuation in the SCS due to the nonlinear friction and complicated work conditions [11], [12]. The parametric uncertainty and complicated load fluctuation lead to poor system stability and large speed fluctuation.…”

Synchronization of Hyperchaos With Time Delay Using Impulse Control

“…Since Pecora and Carroll presented a pioneering work of chaos synchronization [1], chaos synchronization plays an important role in chaos control. In recent years, chaos synchronization methods have been developed rapidly, such as unidirectionally coupling method [2], OGY (Ott, Grebogi and Yorke) method [3], active control method [4], [5], backstepping control method [6], nonlinear feedback control [7], H ∞ method [8], adaptive feedback control [9], [10], adaptive sliding mode control [11] and impulse control method [12]. It has been studied theoretical and experimental for various kinds of chaotic systems, such as fractional-order systems [13], [14], switched systems [15] and network oscillators [16].…”