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Improved Backstepping Control with Nonlinear Disturbance Observer for the Speed Control of Permanent Magnet Synchronous Motor

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Abstract

This paper investigates the speed regulation problem of permanent magnet synchronous motor (PMSM) drive based on backstepping control and nonlinear disturbance observer. By introducing the backstepping control, the single-loop controller is designed instead of the traditional cascade structure, in which, speed and current controller are combined together by recursive design. However, the standard backstepping control method cannot achieve a satisfying behavior in the presence of the disturbance and parameter uncertainties. Unlike the existing adaptive backstepping control method, a nonlinear disturbance observer is designed to estimate the lump disturbance, which includes the matched and mismatched disturbance in the system. Through disturbance estimation and feed-forward compensation, the robustness of the controller is improved effectively. The stability of the system is also proved. Finally, simulation and experiment are implemented with real-time interface (RTI) based on dSPACE. Compared with PI control method, the proposed composite backstepping controller has fast transient response and strong robustness for all disturbance in various conditions.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant 61703222 and Grant 61573223, and by the China Postdoctoral Science Foundation under Grant 2018M632622.

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Authors and Affiliations

  1. College of Automation, Qingdao University, Qingdao, China

    Xu-Dong Liu

  2. School of Control Science and Engineering, Shandong University, Jinan, China

    Ke Li & Cheng-Hui Zhang

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  1. Xu-Dong Liu
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  2. Ke Li
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  3. Cheng-Hui Zhang
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Correspondence to Ke Li.

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Liu, XD., Li, K. & Zhang, CH. Improved Backstepping Control with Nonlinear Disturbance Observer for the Speed Control of Permanent Magnet Synchronous Motor. J. Electr. Eng. Technol. 14, 275–285 (2019). https://doi.org/10.1007/s42835-018-00021-9

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  • DOI: https://doi.org/10.1007/s42835-018-00021-9

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