Robust speed controller design for permanent magnet synchronous motor based on gain-scheduled control method via LMI approach

Abstract

In recent years, permanent magnet synchronous motors (PMSMs) have received more attention in industries due to their higher efficiency in comparison to induction motors. Moreover, they play a growingly important role in applications where variable speeds are necessary. This paper is concerned with the speed control of PMSMs, and the controller design procedure is developed in two steps. Firstly, a novel robust controller is designed via linear matrix inequalities (LMIs) approach in order to guarantee the robustness of the speed control under the load variation and uncertainty. The design of the main LMI, uncertainty, and disturbance elimination LMI involves several steps which are presented in the paper. For comparison, classic state feedback controller and proportional-integral-derivative controller with parameters optimized by genetic algorithm are implemented in different scenarios. Secondly, a gain-scheduled controller is designed and simulated. The controller design conditions are derived in terms of LMIs, which can be solved via convex optimization in MATLAB using YALMIP toolbox. It is observed that instead of using one robust controller for all operating points, several ones can be used, and by measuring the speed feedbacks, the control system opt for the appropriate controller. The suggested gain-scheduled control method via LMI approach gives excellent performance over the complete operational range, and the results validate the robustness and effectiveness of the proposed method.

Recent Achievements in the Control of Interior Permanent-Magnet Synchronous Machine Drives: A Comprehensive Overview of the State of the Art

“…The controller gains for LQR control are calculated using gain scheduling in [84]. Paper [123] utilizes the gain scheduling concept for the speed control of IPMSMs using SFC. An approximated linear model is developed for the machine, and the controller gains are calculated for various operating points.…”

Critical Review on Robust Speed Control Techniques for Permanent Magnet Synchronous Motor (PMSM) Speed Regulation

“…Although this control method's effect is good, there may be changes in the system parameters caused by the controller, as well as system parameters mismatch problems, which will affect the controller's performance [41]. The decisive controller is designed through an interconnect and damping arrangement based on the main principle of energy formative and port series Hamiltonian systems [42]. In addition, the H∞-based current controller is proposed to suppress the voltage variation of the current loop, which improves the current control robustness [43,44].…”

An Ellipsoidal Predictor–Corrector State Estimation Scheme for Linear Continuous-Time Systems With Bounded Parameters and Bounded Measurement Errors

“…Possible applications can be found in distributed heating systems (Rauh et al, 2015), where external inputs related to heat conduction and radiation might have temporally varying or unknown state-dependent characteristics, modeling drive trains with elastic shafts (Amann et al, 2004) characterized by uncertain load and disturbance torques, mechanical positioning systems which are included, for example, in piezo servo hydraulic actuation techniques for camless combustion engines (Haus et al, 2014), current and torque control for permanent magnet synchronous machines in a d-q-coordinate system (Mousavi et al, 2020), or oscillation attenuation and trajectory tracking in robotics applications (Rauh et al, 2013). In all of these applications, it is typically desired to reconstruct internal states on the basis of measured data with uncertainty and to make guaranteed statements about the applicability and safety of the resulting state trajectories in terms of a computation of outer enclosures for those states that are reachable at a certain point of time.…”