영구자석형 모터의 모델 불확실성을 포함한 적응속도 제어기 설계

Abstract

In this paper, a robust adaptive speed control is developed for permanent magnet synchronous motors(PMSM) with uncertainties. The proposed control scheme consists of flux control(FC) using a sliding mode adaptive flux observer and robust speed control(RSC) using a function approximation for mechanical uncertainties (such as load torque, friction force and moment of inertia etc.). Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of PMSM servo drives system, and it is desirable to compensate them in finite time with a continuous control law. The proposed controller guarantees both speed tracking and flux tracking. Simulation results are presented to illustrate the effectiveness of the approaches proposed.