Tracking of Partially Unknown Trajectories for Permanent Magnet Synchronous Motors,
Authors
Luca Gentili, Andrea Paoli, Claudio Bonivento
Abstract
In this paper, an adaptive internal model-based control architecture is designed to deal with an exogenous trajectory tracking problem for a Permanent Magnet Synchronous Motor (PMSM). More in detail, we show how to design a controller able to guarantee the asymptotic tracking of partially unknown exogenous trajectories belonging to a given family, embedding in the regulator the internal model of this family; the control algorithm is able to attain the asymptotic tracking without the knowledge of reference derivatives and exploiting only instantaneous error feedbacks. The theoretical machinery exploited is the nonlinear regulation theory, specialized for the energy-based port- Hamiltonian formalism. The same methodology is proved to be able to deal even with the presence of exogenous voltage disturbances superimposed to the control voltages.
Keywords
Disturbance suppression; Internal model control; Output regulation; Permanent magnet synchronous motor
Citation
- Journal: European Journal of Control
- Year: 2009
- Volume: 15
- Issue: 6
- Pages: 599–612
- Publisher: Elsevier BV
- DOI: 10.3166/ejc.15.599-612
BibTeX
@article{Gentili_2009,
title={{Tracking of Partially Unknown Trajectories for Permanent Magnet Synchronous Motors,}},
volume={15},
ISSN={0947-3580},
DOI={10.3166/ejc.15.599-612},
number={6},
journal={European Journal of Control},
publisher={Elsevier BV},
author={Gentili, Luca and Paoli, Andrea and Bonivento, Claudio},
year={2009},
pages={599--612}
}
References
- Alleyne, A. & Pomykalski, M. Control of a class of nonlinear systems subject to periodic exogenous signals. IEEE Transactions on Control Systems Technology vol. 8 279–287 (2000) – 10.1109/87.826799
- Bodson, M. & Douglas, S. C. Adaptive algorithms for the rejection of sinusoidal disturbances with unknown frequency. Automatica vol. 33 2213–2221 (1997) – 10.1016/s0005-1098(97)00149-0
- Bonivento, C., Gentili, L. & Marconi, L. Balanced robust regulation of a magnetic levitation system. IEEE Transactions on Control Systems Technology vol. 13 1036–1044 (2005) – 10.1109/tcst.2005.852107
- Bonivento, Internal model based fault tolerant control of a robot manipulator. (2004)
- Bonivento, Internal model based framework for tracking and fault tolerant control of a permanent magnet synchronous motor. (2005)
- Bonivento, C., Isidori, A., Marconi, L. & Paoli, A. Implicit fault-tolerant control: application to induction motors. Automatica vol. 40 355–371 (2004) – 10.1016/j.automatica.2003.10.003
- Byrnes, (1997)
- Byrnes, C. I., Priscoli, F. D., Isidori, A. & Kang, W. Structurally stable output regulation of nonlinear systems. Automatica vol. 33 369–385 (1997) – 10.1016/s0005-1098(96)00184-7
- Carroll, Tracking control of permanent magnet brushless dc motors using partial state feedback. (1993)
- Dawson, G., Sen, P., Clarke, D. & Lakhavani, S. Linear synchronous motor feedback controls. IEEE Transactions on Magnetics vol. 12 885–888 (1976) – 10.1109/tmag.1976.1059113
- Canudas de Wit, Adaptive eccentricity compensation. IEEE Trans Control Syst Technol (2000)
- Gentili, Trajectory tracking for permanent magnet synchronous motors: an internal model port-hamiltonian approach. (2007)
- Gentili, (2003)
- Groar, Nonlinear control of synchronous servo drive. (1994)
- Guo, Y., Xi, Z. & Cheng, D. Speed regulation of permanent magnet synchronous motor via feedback dissipative Hamiltonian realisation. IET Control Theory & Applications vol. 1 281–290 (2007) – 10.1049/iet-cta:20050307
- Honsinger, Permanent magnet machines: Asynchronous operation. IEEE Trans Power Appar Syst (1980)
- Huang, Remarks on the robust output regulation problem for nonlinear systems. IEEE Trans Autom Control (2001)
- Isidori, (1995)
- Isidori, (2003)
- Khalil, (2002)
- Marino, R., Santosuosso, G. L. & Tomei, P. Robust adaptive compensation of biased sinusoidal disturbances with unknown frequency. Automatica vol. 39 1755–1761 (2003) – 10.1016/s0005-1098(03)00170-5
- Nikiforov, V. O. Adaptive Non-linear Tracking with Complete Compensation of Unknown Disturbances. European Journal of Control vol. 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 vol. 38 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
- Petrovic, A globally convergent energy-based controller for pm synchronous motors. (1999)
- Petrovic, V., Ortega, R. & Stankovi, A. M. Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Transactions on Control Systems Technology vol. 9 811–820 (2001) – 10.1109/87.960344
- Petrovic, V., Ortega, R. & Stankovi, A. M. Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Transactions on Control Systems Technology vol. 9 811–820 (2001) – 10.1109/87.960344
- Petrovic, V., Ortega, R., Stankovic, A. M. & Tadmor, G. Design and implementation of an adaptive controller for torque ripple minimization in PM synchronous motors. IEEE Transactions on Power Electronics vol. 15 871–880 (2000) – 10.1109/63.867676
- Serrani, A., Isidori, A. & Marconi, L. Semi-global nonlinear output regulation with adaptive internal model. IEEE Transactions on Automatic Control vol. 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 Transactions on Control Systems Technology vol. 2 412–422 (1994) – 10.1109/87.338661
- Shouse, Sensorless velocity control of permanent-magnet synchronous motors. (1994)
- Shouse, K. R. & Taylor, D. G. Sensorless velocity control of permanent-magnet synchronous motors. IEEE Transactions on Control Systems Technology vol. 6 313–324 (1998) – 10.1109/87.668033
- van der Schaft, (1999)
- Vas, (1994)
- 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 Transactions on Industrial Electronics vol. 47 346–355 (2000) – 10.1109/41.836350