Uncertainty And Disturbance Estimator Based Control And Its Application To PM Synchronous Motor Drives

How to eliminate the negative effects of uncertainties and disturbances is one of the critical issues in control system design.Disturbance Rejection Control based on disturbance estimation and compensation has attracted increasing attention from both academia and industry due to its simple and straightforward design philosophy.During the past thirty years,the disturbance rejection control has achieved numerous gratifying results in both theory and application,and has injected fresh vitality to several traditional control communities through the integration of both,such as sliding-mode control,stochastic control,and so on.However,it is worth emphasizing that several aspects,including the theoretical integrity and the ease of industrial application,need to be further studied.Uncertainty-and-Disturbance-Estimator-Based Control(UDEBC)is regarded as a new and promising branch of the disturbance rejection control theory.In this thesis,a comprehensive and in-depth investigation of the UDEBC methodology and its application to permanent-magnet synchronous motor(PMSM)drives was conducted through the theoretical analysis,numerical simulation,and experimental verification,and some innovative research results of important industrial application prospects have been obtained.1)The core idea,the basic design procedure,the structural constraint condition,the general control structure,and the stability of the UDEBC method was systematically presented.It was pointed out that the UDEBC controller contains a novel PI regulator,in which the PI gains can be parameterized into dual bandwidths,that is Kp and Ki can be expressed as the algebraic expression of two bandwidths(i.e.,the desired closed-loop bandwidth ? and the lumped disturbance bandwidth ?).This insightful founding laid a theoretical foundation for the simplified parameters setting in engineered systems.2)The two-degree-of-freedom nature and the control-performance limitation of the UDEBC method were analyzed.It was pointed out that the accuracy of the model inversion block is the key to improve the control performance.Based on the design idea of adaptive robust control(ARC),a simple adaptive disturbance rejection control framework with two kinds of design and implementation schemes,i.e.,feedback and feedforward adaptive compensation,was proposed.Compared with the conventional UDEBC method,the proposed method can provide more excellent steady-state tracking performance.Meanwhile,what is different from the ARC method is that,the simple parameter tuning algorithm for the proposed adaptive disturbance rejection control paves the way for industrial applications.Numerical simulation results in the electrical machine velocity regulation system verified the efficacy of the proposed adaptive disturbance rejection control methodology.3)It was the first time that the UDEBC method was successfully applied to current control of PMSM drives.A dual-bandwidth parameterized robust current control scheme with a simple parameter tuning algorithm was presented.The proposed algorithm establishes the analytical relationship between the controlled current response and the tuned control parameters,and breaks through the limitations of the internationally popular model-based and trial-and-error-based parameter tuning algorithms.A series of comparative experimental results strongly proved that the proposed current control scheme is robust against the model parameter variations,and the proposed parameter tuning procedure is quite simple,intuitive,and flexible.