This paper presents an adaptive observer-based approach to improve the speed-tracking control performance in the permanent magnet synchronous motor drive system with unknown load torque and mechanical parameters. An adaptive observer is designed to estimate the load torque and the mechanical parameters. Using the stability analysis result of Popov theory, the proposed observer is restructured. Then, an adaptive torque feed-forward control is introduced to improve the system dynamic performance. The effectiveness of the proposed schemes is illustrated both by simulation and by experimental results.
AwayaIKatoYMiyakeI. (1992) New motion control with inertia identification function using disturbance observer. In: Industrial Electronics, Control, Instrumentation, and Automation, Proceedings of the 1992 International Conference on Power Electronics and Motion Control, November, pp. 77–81.
2.
ChenCYChengMY (2012) Adaptive disturbance compensation and load torque estimation for speed control of a servomechanism. International Journal of Machine Tools and Manufacture59: 6–15.
3.
ChoiHHJungJW (2012) Fuzzy speed control with an acceleration observer for a permanent magnet synchronous motor. Nonlinear Dynamics67(3): 1717–1727.
4.
ChoiHHVuNTTJungJW (2011) Digital implementation of an adaptive speed regulator for a PMSM. Power Electronics, IEEE Transactions on26(1): 3–8.
5.
DavilaJFridmanLPoznyakA (2006) Observation and identification of mechanical systems via second order sliding modes. International Journal of Control79(10): 1251–1262.
6.
DingXZZhangCRYuLH. (2012) A new state estimator of PMSM using adaptive extended Kalman filter. Advanced Materials Research430: 772–780.
7.
ErrouissiROuhroucheMChenWH. (2012) Robust nonlinear predictive controller for permanent-magnet synchronous motors with an optimized cost function. IEEE Transactions on Industrial Electronics59(7): 2849–2858.
8.
FengYYuXHanF (2013) High-order terminal sliding-mode observer for parameter estimation of a permanent-magnet synchronous motor. IEEE Transactions on Industrial Electronics60(10): 4272–4280.
9.
GengJShengYLiuX (2013) Time-varying nonsingular terminal sliding mode control for robot manipulators. Transactions of the Institute of Measurement and Control doi: 10.1177/0142331213512367.
10.
HanJ (2009) From PID to active disturbance rejection control. IEEE Transactions on Industrial Electronics56(3): 900-906.
11.
HuangWSLiuCWHsuPL. (2010) Precision control and compensation of servomotors and machine tools via the disturbance observer. IEEE Transactions on Industrial Electronics57(1): 420–429.
12.
KweonTJHyunDS (1999) High-performance speed control of electric machine using low-precision shaft encoder. Power Electronics, IEEE Transactions on14(5): 838–849.
13.
KwonTSSulSKNakamuraH. (2006) Identification of the mechanical parameters for servo drive. In: Industry Applications Conference, 2006. 41st IAS Annual Meeting, Conference Record of the 2006 IEEE, October, Vol. 2, pp. 905–910.
14.
LandauID (1973) Design of discrete model reference adaptive systems using the positivity concept. Sensitivity, Adaptivity and Optimality: 307–314.
15.
LandauID (1979) Adaptive Control: The Model Reference Approach. New York: Marcel Dekker.
16.
LandauIDLozanoRM’SaadM. (2011) Adaptive Control: Algorithms, Analysis and Applications. Berlin: Springer.
17.
LeeKBBlaabjergF (2007) Robust and stable disturbance observer of servo system for low-speed operation. IEEE Transactions on Industry Applications43(3): 627–635.
18.
LeeKBYooJYSongJH. (2004) Improvement of low speed operation of electric machine with an inertia identification using ROELO. In: Electric Power Applications, IEE Proceedings151(1): 116–120.
19.
LiuHLiS (2012) Speed control for PMSM servo system using predictive functional control and extended state observer. IEEE Transactions on Industrial Electronics59(2): 1171–1183.
20.
LjesnjaninMDrazenovicBMilosavljevicC. (2011) Disturbance compensation in digital sliding mode. In: International Conference on Computer as a Tool (EUROCON), April, pp. 1–4.
21.
LuLYaoBWangQ. (2009) Adaptive robust control of linear motors with dynamic friction compensation using modified LuGre model. Automatica45(12): 2890–2896.
22.
MilosavljevicCPerunicic-DrazenovicBVeselicB (2013) Discrete-time velocity servo system design using sliding mode control approach with disturbance compensation. IEEE Transactions on Industrial Informatics9(2): 920–927.
23.
MilosavljevicCPerunicic-DrazenovicBVeselicB. (2007) A new design of servomechanisms with digital sliding mode. Electrical Engineering89(3): 233–244.
24.
MohamedYR (2006) Adaptive self-tuning speed control for permanent-magnet synchronous motor drive with dead time. IEEE Transactions on Energy Conversion21(4): 855–862.
25.
RigatosGG (2012) A derivative-free Kalman filtering approach to state estimation-based control of nonlinear systems. IEEE Transactions on Industrial Electronics59(10): 3987–3997.
26.
SunWGaoHKaynakO (2013a) Adaptive backstepping control for active suspension systems with hard constraints. IEEE/ASME Transactions on Mechatronics18(3): 1072–1079.
27.
SunWZhaoZGaoH (2013b) Saturated adaptive robust control for active suspension systems. IEEE Transactions on Industrial Electronics60(9): 3889–3896.
28.
TursiniMParasilitiFZhangD (2002) Real-time gain tuning of PI controllers for high-performance PMSM drives. IEEE Transactions on Industry Applications38(4): 1018–1026.
29.
VuNTChoiHHKimRY. (2012) Robust speed control method for permanent magnet synchronous motor. Electric Power Applications, IET6(7): 399–411.
30.
WangDLiSYangJ. (2014) Adaptive MPC for ozone dosing process of drinking water treatment based on RBF modeling. Transactions of the Institute of Measurement and Control36(1): 58–67.
31.
XuLYaoB (2001) Adaptive robust precision motion control of linear motors with negligible electrical dynamics: theory and experiments. IEEE/ASME Transactions on Mechatronics6(4): 444–452.
32.
YangSMDengYJ (2005) Observer-based inertial identification for auto-tuning servo motor drives. In: Industry Applications Conference, Fortieth IAS Annual Meeting, Conference Record, October, Vol. 2, pp. 968–972.
33.
YaoJJiaoZMaD (2013) Adaptive robust control of DC motors with extended state observer. IEEE Transaction on Industrial Electronics61(7): 3630–3637.
34.
YaoJJiaoZYaoB. (2012) Nonlinear adaptive robust force control of hydraulic load simulator. Chinese Journal of Aeronautics25(5): 766–775.
