Open AccessTwo‐degree‐of‐freedom proportional integral speed control of electrical drives with Kalman‐filter‐based speed estimation
Author(s) -
Xia Changliang,
Ji Bingnan,
Shi Tingna,
Yan Yan
Publication year - 2016
Publication title -
iet electric power applications
Language(s) - English
Resource type - Journals
ISSN - 1751-8679
DOI - 10.1049/iet-epa.2014.0516
Subject(s) - control theory (sociology) , kalman filter , electronic speed control , servomotor , controller (irrigation) , rotary encoder , extended kalman filter , servo bandwidth , servomechanism , computer science , root locus , pid controller , engineering , encoder , servo drive , control engineering , control system , control (management) , temperature control , agronomy , electrical engineering , artificial intelligence , biology , operating system
This study proposes a speed control scheme to improve the speed control performance of the permanent magnet synchronous motor (PMSM) servo system which is equipped with an absolute optical encoder. A two‐degree‐of‐freedom proportional integral speed controller is utilised to make a good compromise between tracking and disturbance rejection performance. Properties of the controller are analysed using the root locus method. As the controller performance is prone to be deteriorated by speed measurement noise and time delay, a novel Kalman filter is used to optimise the speed measurement process. The proposed Kalman filter modifies gain matrix based on the position residue error. By this means it improves dynamic response speed without damaging steady‐state precision. Experimental researches are carried out on a 5.2 kW PMSM drive prototype and the results prove the feasibility and effectiveness of the proposed scheme.