Observer-based Robust Control: Its Application to Permanent Magnet Synchronous Motors
- Authors
- Jeong, Yong Woo; Chung, Chung Choo
- Issue Date
- Feb-2023
- Publisher
- Institute of Electrical Engineers of Japan
- Keywords
- surface-mounted permanent magnet synchronous motors; motion control; disturbance observer
- Citation
- IEEJ Journal of Industry Applications, v.12, no.4, pp 575 - 587
- Pages
- 13
- Indexed
- SCOPUS
ESCI
- Journal Title
- IEEJ Journal of Industry Applications
- Volume
- 12
- Number
- 4
- Start Page
- 575
- End Page
- 587
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/189942
- DOI
- 10.1541/ieejjia.22005294
- ISSN
- 2187-1094
2187-1108
- Abstract
- This paper presents an observer-based robust control for mechatronic systems that utilize a surface-mounted permanent magnet synchronous motor (SPMSM). A mechatronics system with an SPMSM typically comprises a mechanical moving part (outer-loop) and a power converter (inner-loop) to drive the motor. We explain the dynamic modeling of the SPMSM and provide a brief discussion on disturbances in the SPMSM. A cascaded tracking error dynamics of the SPMSM is derived by using a speed controller and torque modulation to analyze disturbances present in outer-loop and inner-loop systems. This cascaded structure highlights how the disturbances in the mechanical moving parts (outer-loop) and power converter (inner-loop) hinder the motion-tracking performance of the SPMSM. This paper demonstrates how the cascaded structure facilitates the stability analysis of the closed-loop system and the design of feedback controllers. The paper aims to help readers understand intrinsic problems in motion control of a mechatronic system driven by the SPMSM and how to design an observer-based robust control of the SPMSM.
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