Adaptive speed controller design for a permanent magnet synchronous motor.pdf

Published in IET Electric Power Applications Received on 26th March 2010 Revised on 16th June 2010 doi: 10.1049/iet-epa.2010.0083 ISSN 1751-8660 Adaptive speed controller design for a permanent magnet synchronous motor H.H. Choi V.Q. Leu Y.-S. Choi J.-W. Jung Division of EEE, Dongguk University – Seoul, 26, 3-ga, Pil-dong, Chung-gu, Seoul 100-715, Seoul, Korea E-mail: hhchoi@ Abstract: An adaptive speed controller is proposed for a permanent magnet synchronous motor (PMSM). The proposed adaptive speed regulator is insensitive to model parameter and load torque variations because it does not need any accurate knowledge about the motor parameter and load torque values. The stability of the proposed control system is also proven. Simulation and experimental results are presented to verify the effectiveness of the proposed adaptive speed controller under the uncertainties such as motor parameter and load torque variations using a prototype PMSM drive system.1 Introduction A permanent magnet synchronous motor (PMSM) becomes increasingly popular for high-resolution servo motor drives such as computerised numerical control (CNC) machine tools and industrial robots. A PMSM features low noise, low inertia, high efficiency, robustness and low maintenance cost. However, the PMSM has the non-linear characteristics and uncertainties such as system parameter variations and external disturbances. As a result, if the linear control methods such as proportional integral differential (PID) control are used for PMSM, they cannot achieve high dynamic performance and high precision. To overcome these problems, some researchers have presented various control methods which are insensitive to load torque variations by using disturbance observers [1– 7]. However, most of the previous PMSM controllers based on disturbance observers can assure the stability of the closed- loop control system under the restrictive assumption that the PMSM parameters are available. In this paper, an adaptive sp