Fuzzy Adaptive Internal Model Control Schemes for PMSM Speed-Regulation System

In this paper, the speed regulation problem for permanent magnet synchronous motor (PMSM) system under vector control framework is studied. First, a speed regulation scheme based on standard internal model control (IMC) method is designed. For the speed loop, a standard internal model controller is first designed based on a first-order model of PMSM by analyzing the relationship between reference quadrature axis current and speed. For the two current loops, PI algorithms are employed respectively. Second, considering the disadvantages that the standard IMC method is sensitive to control input saturation and may lead to poor speed tracking and load disturbance rejection performances, a modified IMC scheme is developed based on a two-port IMC method, where a feedback control term is added to form a composite control structure. Third, considering the case of large variations of load inertia, two adaptive IMC schemes with two different adaptive laws are proposed. A method based on disturbance observer is adopted to identify the inertia of PMSM and its load. Then a linear adaptive law is developed by analyzing the relationship between the internal model and identified inertia. Considering the control input saturation in practical applications, a fuzzy adaptive law based IMC scheme is developed based on apriori experimental tests and experiences, where a fuzzy inferencer based supervisor is designed to automatically tune the parameter of speed controller according to the identified inertia. The effectiveness of the proposed methods have been verified by Matlab simulation and TMS320F2808 DSP experimental results.

[1]  Evanghelos Zafiriou,et al.  Robust process control , 1987 .

[2]  Min Wu,et al.  Rotation-, scale-, and translation-resilient public watermarking for images , 2000, Electronic Imaging.

[3]  Yuxin Su,et al.  Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors , 2005, IEEE Transactions on Industrial Electronics.

[4]  Han Ho Choi,et al.  Digital Implementation of an Adaptive Speed Regulator for a PMSM , 2011, IEEE Transactions on Power Electronics.

[5]  Jin-Hyun Choi,et al.  Inertia identification algorithm for high-performance speed control of electric motors , 2006 .

[6]  Léon Personnaz,et al.  Nonlinear internal model control using neural networks: application to processes with delay and design issues , 2000, IEEE Trans. Neural Networks Learn. Syst..

[7]  YangQuan Chen,et al.  Fractional order robust control for cogging effect compensation in PMSM position servo systems: Stability analysis and experiments , 2010 .

[8]  Daniele Marioli,et al.  Design and Implementation of a Wireless Fieldbus for Plastic Machineries , 2009, IEEE Transactions on Industrial Electronics.

[9]  Eric Coulibaly,et al.  Internal model predictive control (IMPC) , 1995, Autom..

[10]  Carlos E. Garcia,et al.  Internal model control. 2. Design procedure for multivariable systems , 1985 .

[11]  Chih-Hong Lin,et al.  A permanent-magnet synchronous motor servo drive using self-constructing fuzzy neural network controller , 2004 .

[12]  Masami Ito,et al.  New motion control with inertia identification function using disturbance observer , 1992, Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation.

[13]  Mi-Ching Tsai,et al.  H∞ control for a sensorless permanent-magnet synchronous drive , 1997 .

[14]  Sheng Chen,et al.  A clustering technique for digital communications channel equalization using radial basis function networks , 1993, IEEE Trans. Neural Networks.

[15]  Qingsheng Zheng,et al.  A local form of small gain theorem and analysis of feedback Volterra systems , 1999, IEEE Trans. Autom. Control..

[16]  Shihua Li,et al.  Adaptive Speed Control for Permanent-Magnet Synchronous Motor System With Variations of Load Inertia , 2009, IEEE Transactions on Industrial Electronics.

[17]  Tao Liu,et al.  New insight into internal model control filter design for load disturbance rejection , 2010 .

[18]  이나영,et al.  외란 관측기법을 이용한 영구자석형 동기 전동기의 비선형 속도 제어 = A nonlinear speed control for a PM synchronous motor using a simple disturbance estimation technique , 2001 .

[19]  Sheng-Ming Yang,et al.  Observer-based inertial identification for auto-tuning servo motor drives , 2005, Fourtieth IAS Annual Meeting. Conference Record of the 2005 Industry Applications Conference, 2005..

[20]  Shihua Li,et al.  A speed control for a PMSM using finite-time feedback control and disturbance compensation , 2010 .

[21]  Gun-Woo Moon,et al.  A current control for a permanent magnet synchronous motor with a simple disturbance estimation scheme , 1999, IEEE Trans. Control. Syst. Technol..

[22]  Richard D. Braatz,et al.  Improved Filter Design in Internal Model Control , 1996 .

[23]  Shihua Li,et al.  Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer , 2012, IEEE Transactions on Industrial Electronics.

[24]  Liqun Hou,et al.  System requirements for industrial wireless sensor networks , 2010, 2010 IEEE 15th Conference on Emerging Technologies & Factory Automation (ETFA 2010).

[25]  Ahmad B. Rad,et al.  Fuzzy adaptive internal model control , 2000, IEEE Trans. Ind. Electron..

[26]  Faa-Jeng Lin,et al.  A permanent-magnet synchronous motor servo drive using self-constructing fuzzy neural network controller , 2004, IEEE Transactions on Energy Conversion.

[27]  Paul C. Krause,et al.  Analysis of electric machinery , 1987 .

[28]  G. P. Rangaiah,et al.  Anti-windup schemes for uncertain nonlinear systems , 2000 .

[29]  Fayez F. M. El-Sousy,et al.  Hybrid ${\rm H}^{\infty}$-Based Wavelet-Neural-Network Tracking Control for Permanent-Magnet Synchronous Motor Servo Drives , 2010, IEEE Transactions on Industrial Electronics.

[30]  Aniruddha Datta,et al.  Adaptive internal model control: Design and stability analysis , 1996, Autom..

[31]  Carlos E. Garcia,et al.  Internal model control. A unifying review and some new results , 1982 .

[32]  Hsiao-Ping Huang,et al.  The 2-port control system , 1986 .

[33]  Ying-Shieh Kung,et al.  FPGA-Based Speed Control IC for PMSM Drive With Adaptive Fuzzy Control , 2007, IEEE Transactions on Power Electronics.

[34]  Jinggang Zhang,et al.  Adaptive internal model control of permanent magnet synchronous motor drive system , 2005, 2005 International Conference on Electrical Machines and Systems.

[35]  Ralph Kennel,et al.  Predictive control in power electronics and drives , 2008, 2008 IEEE International Symposium on Industrial Electronics.

[36]  Lotfi A. Zadeh,et al.  Outline of a New Approach to the Analysis of Complex Systems and Decision Processes , 1973, IEEE Trans. Syst. Man Cybern..

[37]  Hans-Peter Nee,et al.  Model-based current control of AC machines using the internal model control method , 1995 .

[38]  Yasser Abdel-Rady Ibrahim Mohamed,et al.  Design and Implementation of a Robust Current-Control Scheme for a PMSM Vector Drive With a Simple Adaptive Disturbance Observer , 2007, IEEE Transactions on Industrial Electronics.

[39]  Alex Zheng,et al.  Anti-windup design for internal model control , 1994 .

[40]  Marian P. Kazmierkowski,et al.  “Predictive control in power electronics and drives” , 2008, 2008 IEEE International Symposium on Industrial Electronics.

[41]  Myung-Joong Youn,et al.  Robust nonlinear speed control of PM synchronous motor using boundary layer integral sliding mode control technique , 2000, IEEE Trans. Control. Syst. Technol..