A Modular Control Scheme for PMSM Speed Control With Pulsating Torque Minimization
- 1 June 2004
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industrial Electronics
- Vol. 51 (3), 526-536
- https://doi.org/10.1109/tie.2004.825365
Abstract
In this paper, a modular control approach is applied to a permanent-magnet synchronous motor (PMSM) speed control. Based on the functioning of the individual module, the modular approach enables the powerfully intelligent and robust control modules to easily replace any existing module which does not perform well, meanwhile retaining other existing modules which are still effective. Property analysis is first conducted for the existing function modules in a conventional PMSM control system: proportional-integral (PI) speed control module, reference current-generating module, and PI current control module. Next, it is shown that the conventional PMSM controller is not able to reject the torque pulsation which is the main hurdle when PMSM is used as a high-performance servo. By virtue of the internal model, to nullify the torque pulsation it is imperative to incorporate an internal model in the feed-through path. This is achieved by replacing the reference current-generating module with an iterative learning control (ILC) module. The ILC module records the cyclic torque and reference current signals over one entire cycle, and then uses those signals to update the reference current for the next cycle. As a consequence, the torque pulsation can be reduced significantly. In order to estimate the torque ripples which may exceed certain bandwidth of a torque transducer, a novel torque estimation module using a gain-shaped sliding-mode observer is further developed to facilitate the implementation of torque learning control. The proposed control system is evaluated through real-time implementation and experimental results validate the effectiveness.Keywords
This publication has 14 references indexed in Scilit:
- Torque ripple minimization in PM synchronous motor using iterative learning controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- VSS observer for linear time varying systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- On-line control method to reduce mechanical vibration and torque ripple in reluctance synchronous machine drivesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A Gain Scheduled Sliding Mode Control Scheme Using Filtering Techniques With Applications to Multilink Robotic ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 2000
- Determination of current waveforms for torque ripple minimisation in switched reluctance motors using iterative learning: an investigationIEE Proceedings - Electric Power Applications, 1999
- On adaptive robust backstepping control schemes suitable for PM synchronous motorsInternational Journal of Control, 1998
- Integrator backstepping control of a brush DC motor turning a robotic loadIEEE Transactions on Control Systems Technology, 1994
- Design of currents to reduce torque ripple in brushless permanent magnet motorsIEE Proceedings B Electric Power Applications, 1993
- Optimal torque operation of digitally controlled permanent magnet synchronous motor drivesIEE Proceedings B Electric Power Applications, 1993
- Servo performance of a BLDC drive with instantaneous torque controlIEEE Transactions on Industry Applications, 1992