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Robust current and speed control of a permanent magnet synchronous motor using SMC and ADRC

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Abstract

A second-order ordinary differential equation model is originally constructed for the phase q current system of a permanent magnet synchronous motor (PMSM). The phase q current model contains the effect of a counter electromotive force (CEMF), which introduces nonlinearity to the system. In order to compensate the nonlinearity and system uncertainties, a traditional sliding mode controller (SMC) combined with a low-pass filter (also known as a modified SMC) is designed on the phase q current model. The low-pass filter overcomes chattering effects in control efforts, and hence improves the performance of the controller. The phase q current control system is proved to be stable using Lyapunov approach. In addition, an alternative active disturbance rejection controller (ADRC) with a reduced-order extended state observer (ESO) is applied to control the speed output of PMSM. Both SMC and ADRC are simulated on the PMSM system. The simulation results demonstrate the effectiveness of these two controllers in successfully driving the current and speed outputs to desired values despite load disturbances and system uncertainties.

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Authors and Affiliations

  1. Department of Electrical Engineering and Computer Science, Cleveland State University, Cleveland, OH, 44115, USA

    Yang Zhao & Lili Dong

Authors
  1. Yang Zhao
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  2. Lili Dong
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Corresponding author

Correspondence to Lili Dong.

Additional information

Yang ZHAO received his M.Sc. degree in Electrical Engineering from Cleveland State University, Cleveland, OH, U.S.A., in 2013. He is a Ph.D. candidate in the Department of Electrical Engineering and Computer Science at Cleveland State University. He is a student member of IEEE and he served as the President of HKN Honor Society, Epsilon Alpha Chapter, in 2016. His research interests include the robust speed control of permanent magnet synchronous motors, the path-following control of under-actuated ships, and the disturbance rejection control of power systems.

Lili DONG received the Ph. D. degree in Electrical Engineering from the University of Alabama, Tuscaloosa, AL, U.S.A., in 2005. She is an associate professor in the Department of Electrical Engineering and Computer Science at Cleveland State University, Cleveland, OH, U.S.A. She is the chair of IEEE Control Systems Society, Cleveland Chapter. Her current research interests include control systems design and implementations, and control applications to power systems, automobiles, marine ships, and Micro- Electro-Mechanical Systems (MEMS). She is an editor for the Proceedings of American Control Conference and an associate editor of ISA Transactions.

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Zhao, Y., Dong, L. Robust current and speed control of a permanent magnet synchronous motor using SMC and ADRC. Control Theory Technol. 17, 190–199 (2019). https://doi.org/10.1007/s11768-019-8084-y

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  • DOI: https://doi.org/10.1007/s11768-019-8084-y

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