Nonlinear speed tracking control for sensorless PMSMs with unknown load torque: From theory to practice

In this paper the speed tracking control problem for sensorless (nonsalient-pole surface) permanent magnet synchronous motors (PMSMs) with unknown load torque is addressed. Simulation and experimental results are presented for the first nonlinear adaptive control which (i) relies on a closed loop stability proof using nonlinear stability tools; (ii) feeds back stator current and voltage measurements only without using non-robust open loop integration of motor dynamics. Satisfactory performances are obtained in practice in conditions which can be inferred by deeply analyzing the reported theoretical analysis.

[1]  F. Meibody-Tabar,et al.  Back-EMF estimation based sensorless control of PMSM: robustness with respect to measurement errors and inverter irregularities , 2004, Conference Record of the 2004 IEEE Industry Applications Conference, 2004. 39th IAS Annual Meeting..

[2]  John Chiasson,et al.  Position control of a PM stepper motor by exact linearization , 1991 .

[3]  Cristiano Maria Verrelli,et al.  Robust adaptive learning control for nonlinear systems with extended matching unstructured uncertainties , 2012 .

[4]  A. Astolfi,et al.  Sensorless Control of Surface-Mount Permanent-Magnet Synchronous Motors Based on a Nonlinear Observer , 2010, IEEE Transactions on Power Electronics.

[5]  P Tomei,et al.  Observer-Based Speed Tracking Control for Sensorless Permanent Magnet Synchronous Motors With Unknown Load Torque , 2011, IEEE Transactions on Automatic Control.

[6]  Cristiano Maria Verrelli.  Synchronization of permanent magnet electric motors: New nonlinear advanced results , 2012 .

[7]  L. Harnefors,et al.  A Combined Position and Stator-Resistance Observer for Salient PMSM Drives: Design and Stability Analysis , 2012, IEEE Transactions on Power Electronics.

[8]  Cristiano Maria Verrelli.  Fourier series expansion for synchronization of permanent magnet electric motors , 2011, Appl. Math. Comput..

[9]  Jorge A. Solsona,et al.  Full speed range permanent magnet synchronous motor control without mechanical sensors , 2010 .

[10]  Riccardo Marino,et al.  Nonlinear adaptive control of permanent magnet step motors , 1995, Autom..

[11]  Alessandro Astolfi,et al.  Estimation of Rotor Position and Speed of Permanent Magnet Synchronous Motors With Guaranteed Stability , 2011, IEEE Transactions on Control Systems Technology.

[12]  Jun Hu,et al.  Nonlinear Control of Electric Machinery , 1998 .

[13]  S. Di Gennaro.  Adaptive output feedback control of synchronous motors , 2000 .

[14]  Cristiano Maria Verrelli,et al.  Adaptive Field-oriented Control of Synchronous Motors with Damping Windings , 2008, Eur. J. Control.

[15]  Cristiano Maria Verrelli,et al.  Global Learning Position Controls for Permanent-Magnet Step Motors , 2011, IEEE Transactions on Industrial Electronics.

[16]  Cristiano Maria Verrelli,et al.  A nonlinear adaptive speed tracking control for sensorless permanent magnet step motors with unknown load torque , 2008 .

[17]  Ren C. Luo,et al.  Projection learning for self-organizing neural networks , 1996, IEEE Trans. Ind. Electron..

[18]  Siu Lau Ho,et al.  Sensorless permanent-magnet synchronous motor drive using a reduced-order rotor flux observer , 2008 .

[19]  John Chiasson,et al.  Modeling and High Performance Control of Electric Machines , 2005 .

[20]  Cristiano Maria Verrelli,et al.  A global robust iterative learning position control for current-fed permanent magnet step motors , 2010, 2010 IEEE International Symposium on Industrial Electronics.

[21]  John N. Chiasson,et al.  High-performance nonlinear feedback control of a permanent magnet stepper motor , 1993, IEEE Trans. Control. Syst. Technol..

[22]  Prashanth Krishnamurthy,et al.  Modeling and Adaptive Nonlinear Control of Electric Motors , 2003 .

[23]  Mohamed Rashed,et al.  Sensorless Indirect-Rotor-Field-Orientation Speed Control of a Permanent-Magnet Synchronous Motor With Stator-Resistance Estimation , 2007, IEEE Transactions on Industrial Electronics.

[24]  Pierre Rouchon,et al.  Euler-Lagrange Models With Complex Currents of Three-Phase Electrical Machines and Observability Issues , 2008, IEEE Transactions on Automatic Control.

[25]  Guillermo R. Bossio,et al.  Mechanical sensorless speed control of permanent-magnet AC motors driving an unknown load , 2006, IEEE Transactions on Industrial Electronics.

[26]  Stefano Bifaretti,et al.  A digital speed filter for motion control drives with a low resolution position encoder , 2003 .