Torque Ripple Minimization of PMSM Based on Robust ILC Via Adaptive Sliding Mode Control

Liu, Jing; Li, Hongwen; Deng, Yongting

doi:10.1109/tpel.2017.2711098

Cited by 247 publications

(136 citation statements)

References 27 publications

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“…In [21] the authors propose a robust iterative learning control (ILC) scheme achieved by an adaptive sliding mode control (SMC) technique to further reduce the torque ripples and improve the anti-disturbances ability of the servo system. ILC is employed to reduce the periodic torque ripples and the SMC is used to guarantee fast response and strong robustness.…”

Section: State-of-art On Cogging Torque Reductionmentioning

confidence: 99%

“…As in [17][18][19][20][21][22], the majority of the works in literature approaches the cogging torque problem in the context of a speed control system, actually the presence of the cogging behaviour creates more problems in position control loop than in the speed one. This is due to the fact that the wavelike trend is more a problem in applications in which is required a high precision in rotor axis positioning.…”

Section: State-of-art On Cogging Torque Reductionmentioning

confidence: 99%

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Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Dini

Saponara

2020

Energies

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The problem of cogging torque is due to a magnetic behavior, intrinsic to synchronous machines and due to the presence of permanent magnets themselves. Cogging torque is a significant problem when the servo drive is used for applications where high precision in terms of position control is required. In this paper we present a method of cogging torque reduction by means of a control technique based on mathematical modeling of the cogging phenomenon itself in order to exploit this knowledge directly in the controller design. The mathematical model is inserted in the dynamic model of the synchronous machine in order to exploit the feedback linearization, providing an expression of the control law in which the contribution of the deterministic knowledge of the phenomenon is directly present. The cogging phenomenon physically depends on the angular position of the rotor, as well as the deterministic model we use to define the control vector. This makes it interesting and innovative to determine whether the control algorithm can be inserted within a sensor-less architecture, where rotor position and angular velocity measurements are not available. For this purpose, we present the use of an extended Kalman filter (EKF) in the continuous-time domain, discussing the advantages of an observer design based on a dynamic motor model in three-phase and direct-square axes. Results are presented through very accurate simulation for a trajectory-tracking problem, completing with variational analysis in terms of variation of initial conditions between EKF and motor dynamics, and in terms of parametric variation to verify the robustness of the proposed algorithm. Moreover, a computational analysis based on Simulink Profiler is proposed, which provides some indication for possible implementation on an embedded platform.

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Section: State-of-art On Cogging Torque Reductionmentioning

confidence: 99%

Section: State-of-art On Cogging Torque Reductionmentioning

confidence: 99%

Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Dini

Saponara

2020

Energies

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“…where p d q d r d ½ T can be calculated by equations (3), (17), and (18). k pÁ and k dÁ are the appropriate proportion and differential gains, respectively, which should be pre-tuned.…”

Section: Control Strategy For Individual Quadrotor Uavmentioning

confidence: 99%

Iterative learning-based formation control for multiple quadrotor unmanned aerial vehicles

Zhao

Jing

Chen

et al. 2020

International Journal of Advanced Robotic Systems

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A double-layer formation control is proposed to solve the repeated tasks for multiple quadrotor unmanned aerial vehicle systems. The first layer aims at achieving a formation target in which the iterative learning control is designed based on relative distance with neighbor unmanned aerial vehicles and absolute distance with virtual leader unmanned aerial vehicle. The formation controller is responsible for keeping the formation shape and generating the desired flying trajectories for each drones. The second layer control aims at achieving a high-precision tracking to desired flying trajectories which are generated from the formation controller. A double closed-loop proportional-derivative strategy is designed to ensure the accuracy of trajectory tracking for each individual drone. Simulations for the circle formation mission of the multiple quadrotor unmanned aerial vehicle system are given to verify the efficiency of the proposed method.

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“…Due to the nonlinear and strong coupling characteristics of the PMSM drive system, ideal control results can hardly be achieved in traditional PI controller [20,21]. Many nonlinear control methods have been applied in PMSM drive systems, such as sliding mode control, model predictive control, auto-disturbance rejection control, finite time control, etc., [22][23][24][25][26]. Among these methods, it can converge in finite time and has a better disturbance rejection performance.…”

Section: Introductionmentioning

confidence: 99%

The Direct Speed Control of Pmsm Based on Terminal Sliding Mode and Finite Time Observer

Wang

Che

et al. 2019

Processes

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A non-singular terminal sliding mode control based on finite time observer is designed to achieve speed direct control for the permanent magnet synchronous motor (PMSM) drive system. Speed and current are regulated in one loop under the non-cascade structure, taking place of the cascade structure control method in the vector control of PMSM. Based on the second-order speed function of the PMSM, the disturbance and parameters uncertainties are estimated by the designed finite time observer (FTO), and compensate to the drive system. The estimated value of the finite time observer will converge to the actual disturbance value in a finite time. A second-order non-singular terminal sliding mode controller is proposed to realize the speed and current single-loop, which can track the reference speed and reference current in a finite time. Rigorous stability analysis is established. Comparative results verified that the proposed method has faster speed tracking performance and disturbance rejection property.

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Torque Ripple Minimization of PMSM Based on Robust ILC Via Adaptive Sliding Mode Control

Cited by 247 publications

References 27 publications

Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Iterative learning-based formation control for multiple quadrotor unmanned aerial vehicles

The Direct Speed Control of Pmsm Based on Terminal Sliding Mode and Finite Time Observer

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