Robust Backstepping Tracking Controller for Low-Speed PMSM Positioning System: Design, Analysis, and Implementation

Abstract

This paper is concerned with the design and implementation of a robust position backstepping tracking controller for a permanent magnet synchronous motor (PMSM). The information on the angular position and velocity, provided by a classical resolver-to-digital converter, additionally employs a phase lock loop (PLL) circuit. A backstepping control law is designed from the input-output linearization of the PMSM model, written in d-q coordinates. This controller is adapted via the online estimation of the unknown load torque and friction effects. A linear extended state observer is devised for this purpose, thus ensuring high closed-loop performance of the motor trajectory tracking task. An input-state stability analysis of the entire system is also provided. Cosimulation via the MATLAB/Simulink-PSIM package, including realistic measurement disturbances, is used to investigate the stability and accuracy of the proposed control algorithm. Experimental results are provided. Index Terms-Input-state stability (ISS), load torque linear extended state observer (LESO), permanent magnet synchronous motor (PMSM), position backstepping tracking controller. I. INTRODUCTIONP ERMANENT magnet synchronous motors (PMSMs) exhibit a remarkable torque density and the highest efficiency among several other electrical machines [2]. Given these advantages, the PMSMs have extended their applications in machine tools, robotics, automotive applications, electrical mobility, electric aircraft, renewable power generation, and home appliances [2]. The conventional proportional-integralderivative (PID) control method still remains popular, thanks to its simplicity and its overall good performance at some operating points [1]. However, the PMSM is a nonlinear system with nonmeasurable endogenous and exogenous unknown disturbances [15]. It is therefore not easy to always obtain an excellent performance over the full range of operation, when classical linear feedback control methods are used [18], [29]. ). This paper has supplementary downloadable material at http://ieeexplore. ieee.org, provided by the authors. The material is 53.5 MB in size.

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