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The velocity of permanent magnet synchronous motors (PMSMs) must be exactly controlled to promote the development of high-performance drive systems. This work proposed an enhanced adaptive controller to improve the tracking performance of PMSM based on a new higher-order adaptive control mechanism. Firstly, the controller adopted a novel higher-order weighted one-step-ahead criterion function to generate the control law for an equivalent partial form linearization system. This model-free design depended on a pseudo partial derivative (PPD) that was derived online from the input and output (I/O) information of the controlled plant. This approach is especially useful for nonlinear systems with vague dynamics. Secondly, the design guaranteed the stability of the bounded input and output and ensured tracking error monotonic convergence under a restricted set of parameters. Thirdly, the design was simulated and applied on an actual PMSM system to demonstrate the effects of different control parameters. Results show that the approach is fit for motor control and yields satisfactory velocity tracking precision and fault tolerance along with the increased order. Moreover, the approach involves lesser calculation efforts for parameter estimation and simplifies the controller design. This study can meet the demand of velocity tracking and demonstrates the effective applications of this approach for real nonlinear motor systems that are typically difficult to model and control.

Enhanced Velocity Tracking Control using Higher - Order Model - Free Adaptive Approach for Permanent Magnet Synchronous Motor