| Nowadays,permanent magnet synchronous motor(PMSM)has been recognized as a popular drive device in the field of industrial applications,e.g.,electric vehicles,aerospace,and robotics.However,load torque disturbance and parametric uncertainties commonly exist in PMSM and may reduce the tracking accuracy especially when the reference signal or disturbance signal is time-varying.Thus,it is challenging to achieve high precision tracking control of PMSM with both load torque disturbance and parametric uncertainties being taken into account.Moreover,when PMSM is used as the driving device of electric vehicle(EV),the EV model becomes a complicated multivariable nonlinear system because it includes PMSM and vehicle transmission system.However,the complicated vehicle operating environment is often accompanied by the variation of system parameters and entrance of external disturbances,which will reduce the speed tracking accuracy of EV.Thus,it is also challenging to achieve precise speed tracking control of EV when both external disturbances and parametric variation are taken into account.The above tasks can be formulated as a global robust output regulation problem of multi-input,multi-output nonlinear system.Considering that global robust output regulation approach can achieve both asymptotic tracking and disturbance rejection of an uncertain plant,it is of great significant to study the tracking control problem of PMSM servo system and EV by global robust output regulation approach.The main research work of this thesis is as follows:(1)This thesis studies a global speed tracking and disturbance rejection problem of PMSM and proposes an internal model based speed control method of PMSM.This method can not only achieve high precision speed tracking under time-varying reference speed and/or load torque disturbance,but also allow all the motor parameters to be uncertain.Simulation and experimental results demonstrate the effectiveness of the proposed method.(2)This thesis studies a global position tracking and disturbance rejection problem of PMSM and proposes an internal model based position control method of PMSM.This method can not only achieve high precision position tracking under time-varying reference position and/or load torque disturbance,but also allow all the motor parameters to be uncertain.Simulation and experimental results demonstrate the effectiveness of the proposed method.(3)This thesis studies a speed tracking and disturbance rejection problem of electric vehicle driven by PMSM.Aiming at the nonlinear system by integrating the PMSM with the vehicle transmission system,an internal model based state feedback control law is proposed to solve the speed tracking control problem of electric vehicle.This method can not only achieve high precision speed tracking with external disturbance,but also allow all the system parameters to be uncertain.Simulation results demonstrate the effectiveness of the proposed method. |
