LPV $\mathcal {H}_\infty$ Control with Disturbance Estimation for Permanent Magnet Synchronous Motors

This paper presents an <inline-formula><tex-math notation="LaTeX">$\mathcal {H}_\infty$</tex-math></inline-formula> controller with an <inline-formula><tex-math notation="LaTeX">$\mathcal {H}_\infty$</tex-math></inline-formula> state estimator using a linear parameter-varying (LPV) model of permanent magnet synchronous motor (PMSM). The proposed control method comprises a nonlinear torque modulation, an LPV <inline-formula><tex-math notation="LaTeX">$\mathcal {H}_\infty$</tex-math></inline-formula> state estimator, and an LPV <inline-formula><tex-math notation="LaTeX"> $\mathcal {H}_\infty$</tex-math></inline-formula> state feedback controller. The use of nonlinear torque modulation enables formulation of the electromechanical dynamics of the PMSM in the form of an LPV system. The LPV <inline-formula><tex-math notation="LaTeX">$\mathcal {H}_\infty$</tex-math></inline-formula> state estimator is designed to estimate the velocity, currents, and disturbance based solely on position measurement. We introduce a vertex expansion technique to cover all operating points of an LPV system. A velocity tracking controller is designed in the frame work of <inline-formula><tex-math notation="LaTeX">$\mathcal {H}_\infty$</tex-math></inline-formula> control to be robust against disturbance. The proposed controller was implemented and validated with a motor generator set consisting of two PMSMs. Experimental results are presented to validate the effectiveness of the proposed method compared to conventional field-oriented control. These results show improved transient responses to velocity reference in the presence of disturbance.

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