A Dead Time Compensation Algorithm of Independent Multi-Phase PMSM with Three-Dimensional Space Vector Control

Park, Ouk-Sang; Park, Je‐Wook; Bae, Chae-Bong; Kim, Jang-Mok

doi:10.6113/jpe.2013.13.1.77

Cited by 15 publications

(7 citation statements)

References 24 publications

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“…Therefore, PMSMs are wildly used to drive the joints of the majority commercial manipulators. With the advantages of easy and simple implementation, the proportional-integral-derivative (PID) control method is often adopted in practical PMSM trajectory tracking control system [1]- [3]. This method can satisfy the control requirements to a certain extent when the mathematical model is accurate.…”

Section: Introductionmentioning

confidence: 99%

Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

et al. 2020

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This paper focuses on a robust continuous sliding mode control (RCSMC) method for manipulator PMSM trajectory tracking system under time-varying uncertain disturbances. The main objective of this study is to improve the trajectory tracking dynamic response and disturbances rejection ability of the manipulator PMSM, and then the manipulator itself, by using the RCSMC method. The RCSMC method consists of two key parts: a terminal continuous sliding mode controller (TCSMC), and an extended state observer (ESO). The TCSMC has been demonstrated to have remarkable capabilities to reduce the chattering phenomenon caused by high frequency switching function in the conventional sliding mode control law, and reject the strong time-varying uncertain disturbances for PMSM velocity loops. However, the high control gain, which could lead high velocity steady state fluctuations, is needed. Therefore, an extended state observer is introduced to estimate the disturbances. The estimated disturbances are further used by the velocity loop controller as a kind of feed-forward compensation to reduce the gain of the TCSMC method. The stability of the PMSM trajectory tracking system with the RCSMC algorithm is guaranteed by the Lyapunov stability criteria. Simulations have been conducted to verify the performance of the proposed RCSMC algorithm. Finally, the proposed RCSMC algorithm is applied in a practical 6-DOF manipulator, and the experimental results exhibit the extraordinary robustness and capabilities in dynamic position tracking characteristics, velocity response and disturbances rejection. INDEX TERMS robust continuous sliding mode control, manipulator, PMSM control, trajectory tracking system,time-varying uncertain disturbances

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Section: Introductionmentioning

confidence: 99%

Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

et al. 2020

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“…Usually, PMSMs use the strategy of the field-oriented control (FOC), a cascade control structure with an inner current loop and an outer speed loop, in their control systems. The proportional integral (PI) control, which offers simple and easy implementation, is widely used in PMSM systems in both the inner and outer loops [4,5]. In applications, unknown random disturbances and parametric uncertainties always affect PMSM systems and induce ripples.…”

Section: Introductionmentioning

confidence: 99%

Improved Sliding Mode Control for Permanent Magnet Synchronous Motor Speed Regulation System

Qian

Pan

et al. 2018

Applied Sciences

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Due to advantages such as high speed, high accuracy, low maintenance and high reliability, permanent magnet synchronous motor (PMSM) servo systems have been employed in many fields. In some cases, for example, speed fluctuations caused by load mutation would restrict the control stability, thereby limiting the usefulness of PMSM in high-precision applications. The speed regulation problem of PMSM servo control systems is discussed in this paper. A sliding mode disturbance control is developed in the vector control system to improve tracking performance of the PMSM system in order to suppress the speed fluctuations. The integration of sliding mode control and the proportional plus integral (PI) control can improve the performance of the closed-loop system and attenuate disturbances to a great extent. The proposed method can effectively improve the robustness and response speed of the system. Simulation and experimental analyses are conducted to demonstrate the superior properties of the proposed control method.

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“…Permanent magnet synchronous motor servo drives are used in a wide range of industrial applications [1]- [4]. A response bandwidth and dynamic stiffness are two key ratings for its performance [5]- [7].…”

Section: Introductionmentioning

confidence: 99%

A Double Bi-Quad Filter with Wide-Band Resonance Suppression for Servo Systems

Luo¹,

Shen²,

Mao³

2015

Journal of Power Electronics

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In this paper, an algorithm using two bi-quad filters to suppress the wide-band resonance for PMSM servo systems is proposed. This algorithm is based on the double bi-quad filters structure, so it is named, "double bi-quad filter." The conventional single bi-quad filter method cannot suppress unexpected mechanical terms, which may lead to oscillations on the load side. A double bi-quad filter structure, which can cancel the effects of compliant coupling and suppress wide-band resonance, is realized by inserting a virtual filter after the motor speed output. In practical implementation, the proposed control structure is composed of two bi-quad filters on both the forward and feedback paths of the speed control loop. Both of them collectively complete the wide-band resonance suppression, and the filter on the feedback path can solve the oscillation on the load side. Meanwhile, with this approach, in certain cases, the servo system can be more robust than with the single bi-quad filter method. A step by step design procedure is provided for the proposed algorithm. Finally, its advantages are verified by theoretical analysis and experimental results.

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A Dead Time Compensation Algorithm of Independent Multi-Phase PMSM with Three-Dimensional Space Vector Control

Cited by 15 publications

References 24 publications

Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

Improved Sliding Mode Control for Permanent Magnet Synchronous Motor Speed Regulation System

A Double Bi-Quad Filter with Wide-Band Resonance Suppression for Servo Systems

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