Ic. Baik et al., ROBUST NONLINEAR SPEED CONTROL OF PM SYNCHRONOUS MOTOR USING ADAPTIVEAND SLIDING MODE CONTROL TECHNIQUES, IEE proceedings. Electric power applications, 145(4), 1998, pp. 369-376
A DSP-based nonlinear speed control of a permanent magnet synchronous
motor (PMSM) which is robust to unknown parameter variations and speed
measurement error is presented. The model reference adaptive system (
MRAS) based adaptation mechanisms for the estimation of slow ly varyin
g parameters are derived using the Lyapunov stability theory. For the
disturbances or quickly varying parameters, a quasilinearised and deco
upled model including the influence of parameter variations and speed
measurement error on the nonlinear speed control of a PMSM is derived.
Based on this model, a boundary layer integral sliding mode controlle
r to improve the robustness and performance of a PMSM drive is designe
d and compared with the conventional controller. To show the validity
of the proposed control scheme, simulations and experimental work are
carried out and compared with the conventional control scheme.