Adaptive Robust Control Of Pmsm Based On Flux Identification

In electric power transmission system,the moment of inertia and the load torque of the system can not be known accurately in advance,and these parameters are also changing because of different working conditions.At the same time,there are friction and external disturbances during the operation of the motor.We call the uncertainty of the above parameters and the friction and disturbance as uncertain factors.In the presence of uncertain factors,the problem of motor servo control under uncertain factors is studied.In order to facilitate the design of the position controller and the flux observer,the mathematical model of PMSM is established firstly.At the same time,in order to highlight the uncertain factors in the research background,the causes of uncertain factors in the motor servo system are analyzed in detail,and the expressions of the friction disturbances are given.As the current controller in the servo control of the important position,this paper elaborates the current controller design process.In the light of the simple and practical principle,the PI current controller is used,the theoretical tuning formula of controller parameters is given,and the dynamic response performance and disturbance rejection performance of the controller are analyzed in detail.Then,an adaptive robust position control strategy for PMSM is proposed.The control strategy is based on deterministic robust control,and the robust feedback control term is designed based on the bounds of external disturbance.In the presence of uncertainties,the adaptive robust controller guarantees robust tracking of the position firstly.Then,an adaptive parameter identification mechanism is introduced to estimate the moment of inertia,the load torque and the friction factor.The influence of parameter disturbance on the servo control is reduced,and the conservatism of the robust control is reduced.The design process of the controller is discussed in detail.The convergence performance of the controller is proved theoretically,and the parameter selection in the controller is discussed.Since the adaptive robust position controller outputs a torque given signal,to achieve torque tracking,this paper proposed two schemes,so the rotor permanent magnet flux linkage and the stator flux linkage of the PMSM need to be identified respectively.In this paper,the rotor flux linkage adaptive observer and the minimum order stator flux observer based on the extended flux linkage are designed respectively.The numerical selection of the feedback gain matrix in the observer is discussed,and the theoretical analysis of the magnetic flux observer error is emphasized.Finally,not only the simulations of proposed algorithm are implemented,but also the platform of PMSM system based on DSP28335 is built,and the experiments on itprove the effectiveness and feasibility of the adaptive robust position control strategy well.