Robust backstepping tracking controller for low speed PMSM positioning system: Design, analysis, and implementation

Linares-Flores, J.; García‐Rodríguez, Carlos; Sira‐Ramírez, Hebertt; Ramirez-Cardenas, O. D.

doi:10.1109/icit.2015.7125411

Cited by 19 publications

(31 citation statements)

References 29 publications

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“…The robust sensorless speed trajectory tracking controller is derived using a recursive design methodology: called, backstepping, which offers a choice of design tools for the accommodation of uncertain nonlinearities and can avoid wasteful cancelations. 7,28,29 The unknown load torque and friction effects, present in the PMSM system, are estimated employing a reduced-order observer. The estimations are adaptively incorporated into the backstepping controller to reduce their undesirable effects.…”

Section: Motivation and Main Contributionmentioning

confidence: 99%

“…Unlike the work published in Reference 7, this article presents a sensorless low-speed control, in which the position and speed are estimated using an ESO and an algebraic module. In contrast, article 7 presents an angular position control, which uses a resolver to measure the angular position.…”

Section: Motivation and Main Contributionmentioning

confidence: 99%

“…Notice that, the desired reference trajectories, i * d = x * 1 , * (t) = x * 2 ,̇ * (t) =̇x * 2 , and̈ * (t) =ẍ * 2 are calculated in the same way as. 7,8…”

Section: Robust Sensorless Speed Trajectory Tracking Based On the Bacmentioning

confidence: 99%

“…However, high-performance control requires accurate rotor angular speed and position information. 6 This can be obtained by using mechanical sensors, such as tachometers, resolvers, 7,8 and encoders. 9 Regrettably, the angular position and speed sensors increase the overall cost and the size of the PMSM system and reduce its reliability and noise immunity.…”

Section: Introductionmentioning

confidence: 99%

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Robust sensorless low‐speed trajectory tracking for a permanent magnet synchronous motor: An extended state observer based backstepping control approach

et al. 2020

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This article deals with the low‐speed sensorless trajectory tracking control of a permanent magnet synchronous motor (PMSM). The rotor position and angular speed are obtained through back electromotive forces (back‐EMF), using extended state observers (ESOs) in the alpha‐beta coordinates. Additionally, the estimation of the back‐EMF is used by an algebraic module to reconstruct online the position and speed using an off‐line estimation of the back‐EMF parameter Km^. The control law is derived using a robust recursive controller design methodology, namely; the backstepping design approach in the d‐q coordinates. Estimation schemes allow the adaptation of the angular position, angular speed, and the load torque parameters in the control law. With this adaptation, the controller achieves the necessary robustness to reduce the effects of endogenous and exogenous perturbations present in the PMSM system. The trajectory tracking task is achieved at low angular speed, with the presence of a load torque applied to the motor shaft. Experimental results at low‐speed and rated load/no‐load conditions are presented to demonstrate the effectiveness and robustness of the proposed scheme.

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Section: Motivation and Main Contributionmentioning

confidence: 99%

Section: Motivation and Main Contributionmentioning

confidence: 99%

“…Notice that, the desired reference trajectories, i * d = x * 1 , * (t) = x * 2 ,̇ * (t) =̇x * 2 , and̈ * (t) =ẍ * 2 are calculated in the same way as. 7,8…”

Section: Robust Sensorless Speed Trajectory Tracking Based On the Bacmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust sensorless low‐speed trajectory tracking for a permanent magnet synchronous motor: An extended state observer based backstepping control approach

et al. 2020

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“…Para este tipo de motores se han propuesto diversos esquemas de control tales como el control basado en pasividad mostrado en [3] y el de un controlador basado en la técnica Backstepping para el seguimiento de posición el cual se muestra en [4].…”

Section: Introductionunclassified

Control de velocidad de un motor síncrono de imanes permanentes accionado por un inversor trifásico multinivel

Mayoral-Lagunes

Abad

López

et al. 2019

ings

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Este trabajo presenta el diseño e implementación de un controlador robusto para el seguimiento de velocidad de un motor síncrono de imanes permanentes (MSIP). Se propone un controlador lineal basado en la retroalimentación dinámica de la salida pasiva estática del error exacto. El controlador pasivo propuesto requiere del conocimiento del par de carga, por lo que el mismo es estimado con un observador tradicional de orden reducido. El MSIP es impulsado por medio de un inversor multinivel trifásico de celdas en cascada de cinco niveles. Para la implementación del controlador, estimador y modulador multinivel se emplea un arreglo de compuertas programable en campo (FPGA) de la familia Spartan-6 XC6SLX9. El procesamiento en paralelo que provee este dispositivo permite obtener un tiempo de muestreo de 10 us. Los resultados de simulación y experimentales muestran que el controlador propuesto tiene un excelente desempeño.

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Adaptive Backstepping Control of Six‐Phase PMSM Using Functional Link Radial Basis Function Network Uncertainty Observer

Lin

Chen

Sun

2017

Asian Journal of Control

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An adaptive backstepping control (ABSC) using a functional link radial basis function network (FLRBFN) uncertainty observer is proposed in this study to construct a high-performance six-phase permanent magnet synchronous motor (PMSM) position servo drive system. The dynamic model of a field-oriented six-phase PMSM position servo drive is described first. Then, a backstepping control (BSC) system is designed for the tracking of the position reference. Since the lumped uncertainty of the six-phase PMSM position servo drive system is difficult to obtain in advance, it is very difficult to design an effective BSC for practical applications. Therefore, an ABSC system is designed using an adaptive law to estimate the required lumped uncertainty in the BSC system. To further increase the robustness of the six-phase PMSM position servo drive, an FLRBFN uncertainty observer is proposed to estimate the lumped uncertainty of the position servo drive. In addition, an online learning algorithm is derived using Lyapunov stability theorem to learn the parameters of the FLRBFN online. Finally, the proposed position control system is implemented in a 32-bit floating-point DSP, TMS320F28335. The effectiveness and robustness of the proposed intelligent ABSC system are verified by some experimental results.

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Robust backstepping tracking controller for low speed PMSM positioning system: Design, analysis, and implementation

Cited by 19 publications

References 29 publications

Robust sensorless low‐speed trajectory tracking for a permanent magnet synchronous motor: An extended state observer based backstepping control approach

Robust sensorless low‐speed trajectory tracking for a permanent magnet synchronous motor: An extended state observer based backstepping control approach

Control de velocidad de un motor síncrono de imanes permanentes accionado por un inversor trifásico multinivel

Adaptive Backstepping Control of Six‐Phase PMSM Using Functional Link Radial Basis Function Network Uncertainty Observer

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