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Robust sensorless low‐speed trajectory tracking for a permanent magnet synchronous motor: An extended state observer based backstepping control approach
Author(s) -
LinaresFlores Jesús,
HernándezMéndez Arturo,
Javier VásquezSanjuan Jacob,
GuerreroCastellanos José Fermi,
CurielOlivares Gonzalo
Publication year - 2020
Publication title -
advanced control for applications: engineering and industrial systems
Language(s) - English
Resource type - Journals
ISSN - 2578-0727
DOI - 10.1002/adc2.49
Subject(s) - control theory (sociology) , backstepping , robustness (evolution) , torque , counter electromotive force , electronic speed control , robust control , angular velocity , computer science , control engineering , engineering , voltage , control system , physics , adaptive control , control (management) , artificial intelligence , biochemistry , chemistry , quantum mechanics , electrical engineering , gene , thermodynamics
This article deals with the low‐speed sensorless trajectory tracking control of a permanent magnet synchronous motor (PMSM). The rotor position and angular speed are obtained through back electromotive forces (back‐EMF), using extended state observers (ESOs) in the alpha‐beta coordinates. Additionally, the estimation of the back‐EMF is used by an algebraic module to reconstruct online the position and speed using an off‐line estimation of the back‐EMF parameterK m^ . The control law is derived using a robust recursive controller design methodology, namely; the backstepping design approach in the d‐q coordinates. Estimation schemes allow the adaptation of the angular position, angular speed, and the load torque parameters in the control law. With this adaptation, the controller achieves the necessary robustness to reduce the effects of endogenous and exogenous perturbations present in the PMSM system. The trajectory tracking task is achieved at low angular speed, with the presence of a load torque applied to the motor shaft. Experimental results at low‐speed and rated load/no‐load conditions are presented to demonstrate the effectiveness and robustness of the proposed scheme.