ROBUST-CONTROL OF PERMANENT-MAGNET MOTORS - VSS TECHNIQUES LEAD TO SIMPLE HARDWARE IMPLEMENTATIONS

It is shown how very simple velocity-tracking robust controllers for P ermanent Magnet motors driving nonlinear load can be designed based on Variable Structure Systems techniques. Very fast dynamics, accurate a nd robust velocity-tracking are achieved with very simple hardware com ponents without resorting to powerful Digital Signal Processors and re lated interface hardware. A cascade control structure is used to ensur e maximum flexibility. The controller for dc motor is considered in gr eat detail. Extension to ac synchronous PM motors is also presented. A t the different control levels robustness is addressed with specific a lgorithms and the simplest solution is always selected. The controller architecture for both dc and ac synchronous motor are presented and d iscussed in the paper. Experimental results related to the control of a dc motor driving a nonlinear load are also shown. They demonstrate f easibility and excellent performances of the proposed approach.