INTERNAL MODEL BASED FRAMEWORK FOR TRACKING AND FAULT TOLERANT CONTROL OF A PERMANENT MAGNET SYNCHRONOUS MOTOR

Authors

Claudio Bonivento, Luca Gentili, Andrea Paoli

Abstract

In this paper an adaptive internal model based control scheme is designed to deal with tracking and input disturbance suppression problems for a permanent magnet synchronous motor. More in detail we show how to design a controller able to guarantee the perfect asymptotic tracking of unknown exogenous trajectories belonging to a certain family, embedding in the regulator the internal model of this family; the theoretical machinery exploited in order to prove the global asymptotical stability of the solution exposed is the nonlinear output regulation theory, specialized for the energy-based port-Hamiltonian formalism.

Keywords

fault tolerant control, internal model based control, permanent magnet motor, port-hamiltonian systems

Citation

• Journal: IFAC Proceedings Volumes
• Year: 2005
• Volume: 38
• Issue: 1
• Pages: 604–609
• Publisher: Elsevier BV
• DOI: 10.3182/20050703-6-cz-1902.00501
• Note: 16th IFAC World Congress

BibTeX

@article{Bonivento_2005,
  title={{INTERNAL MODEL BASED FRAMEWORK FOR TRACKING AND FAULT TOLERANT CONTROL OF A PERMANENT MAGNET SYNCHRONOUS MOTOR}},
  volume={38},
  ISSN={1474-6670},
  DOI={10.3182/20050703-6-cz-1902.00501},
  number={1},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Bonivento, Claudio and Gentili, Luca and Paoli, Andrea},
  year={2005},
  pages={604--609}
}

Download the bib file

References

• Astolfi, A., Isidori, A. & Marconi, L. A Note on Disturbance Suppression for Hamiltonian Systems by State Feedback. IFAC Proceedings Volumes 36, 211–216 (2003) – 10.1016/s1474-6670(17)38893-6
• Bonivento, C., Isidori, A., Marconi, L. & Paoli, A. Implicit fault-tolerant control: application to induction motors. Automatica 40, 355–371 (2004) – 10.1016/j.automatica.2003.10.003
• Bonivento, C., Gentili, L. & Paoli, A. Internal model based fault tolerant control of a robot manipulator. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 5260-5265 Vol.5 (2004) doi:10.1109/cdc.2004.1429643 – 10.1109/cdc.2004.1429643
• Byrnes, C. I., Priscoli, F. D., Isidori, A. & Kang, W. Structurally stable output regulation of nonlinear systems. Automatica 33, 369–385 (1997) – 10.1016/s0005-1098(96)00184-7
• Byrnes, (1997)
• Dawson, G., Sen, P., Clarke, D. & Lakhavani, S. Linear synchronous motor feedback controls. IEEE Trans. Magn. 12, 885–888 (1976) – 10.1109/tmag.1976.1059113
• Gentili, L. & van der Schaft, A. Regulation and Input Disturbance Suppression for Port-Controlled Hamiltonian Systems 1. IFAC Proceedings Volumes 36, 205–210 (2003) – 10.1016/s1474-6670(17)38892-4
• Jie Huang. Remarks on the robust output regulation problem for nonlinear systems. IEEE Trans. Automat. Contr. 46, 2028–2031 (2001) – 10.1109/9.975514
• Isidori, (1995)
• Nikiforov, V. O. Adaptive Non-linear Tracking with Complete Compensation of Unknown Disturbances. European Journal of Control 4, 132–139 (1998) – 10.1016/s0947-3580(98)70107-4
• Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
• Serrani, A., Isidori, A. & Marconi, L. Semi-global nonlinear output regulation with adaptive internal model. IEEE Trans. Automat. Contr. 46, 1178–1194 (2001) – 10.1109/9.940923
• Shouse, K. R. & Taylor, D. G. A digital self-tuning tracking controller for permanent-magnet synchronous motors. IEEE Trans. Contr. Syst. Technol. 2, 412–422 (1994) – 10.1109/87.338661
• Shouse, K. R. & Taylor, D. G. Sensorless velocity control of permanent-magnet synchronous motors. Proceedings of 1994 33rd IEEE Conference on Decision and Control vol. 2 1844–1849 – 10.1109/cdc.1994.411114
• Shouse, K. R. & Taylor, D. G. Sensorless velocity control of permanent-magnet synchronous motors. IEEE Trans. Contr. Syst. Technol. 6, 313–324 (1998) – 10.1109/87.668033
• van der Schaft, (1999)
• Guchuan Zhu, Dessaint, L.-A., Akhrif, O. & Kaddouri, A. Speed tracking control of a permanent-magnet synchronous motor with state and load torque observer. IEEE Trans. Ind. Electron. 47, 346–355 (2000) – 10.1109/41.836350