Global PID position control of PM stepper motors and PM synchronous motors

Abstract

This article is concerned with position control of permanent magnet (PM) stepper motors and PM synchronous motors. We present, for the first time, some stability proofs which explain, under mild assumptions, why the most common control strategy used in commercial drives works well in practice. We stress that this successful control strategy has been used until now only on the basis of linear approximations. As in most commercial drives, we consider the design of a linear PID position controller intended for the mechanical subsystem and some inner electric current loops driven by linear proportional controllers which are introduced to cope with the electrical subsystem.

Permanent magnet synchronous motors are globally asymptotically stabilizable with PI current control

“…GAS follows immediately from the well-known fact [21] that the cascade of two GAS systems is GAS if all trajectories are bounded. 5…”

“…The interest of our contribution is further enhanced by the fact that the analysis relies on basic Lyapunov theory, using the natural (quadratic in the increments) Lyapunov function. Various attempts to establish such a result for PMSMs have been reported in the literature either relying on linear approximations of the motor dynamics or including additional terms that cancel some nonlinear terms, see [5,6] and references therein-a standing assumption being, similarly to us, the existence of viscous friction.…”

Pressure Control for a Hydraulic Cylinder Based on a Self-Tuning PID Controller Optimized by a Hybrid Optimization Algorithm

“…Part B is undated by the conventional PSO algorithm. The velocity and position of particles are modified according to Equations (5) and (6). The inertia weight is determined by step 1.3.…”

“…Among these, the proportion integration differentiation (PID) controller is the most popular. Thanks to its simple structure, easy implementation and robust performance, the PID controller was widely used in many different fields, including process control [4], flight control [5], motor drives [6] and instrumentation [7]. Modern industrial systems often suffered from problems of high orders, nonlinearities and time delays [8,9].…”

Infinite time horizon optimal current control of a stepper motor exploiting a finite element model

“…Efforts concentrate on finding solutions which guarantee high immunity of the drive system to external disturbances, such as a changing load, in terms of realizing prescribed trajectories while minimising associated errors in position, velocity or torque [1][2][3][4]. The literature coverage in this field is immense, but some specific topics deserve to be mentioned, in particular the optimal control theory [5,6], sliding control methods [7][8], adaptive control employing neural networks techniques, fuzzy logic and genetic algorithms [1,9,10].…”