A Practical Disturbance Rejection Control Scheme for Permanent Magnet Synchronous Motors

Abstract

This paper proposes a novel disturbance rejection control scheme for permanent magnet synchronous motor (PMSM) drives. Based on the framework of modified disturbance observer (DOB)-based control, the final topology of the proposed disturbance rejection proportional–integral (DR-PI) controller includes a pre-filter and a controller in a proportional–integral (PI) form. The proposed DR-PI control scheme is practical with a straightforward gain tuning rule. Note that the gain selection method is the main issue of not only conventional PI controllers but also advanced methods such as DOB-based controllers. In addition, by starting from the framework of modified DOB, this paper also proves that the PI controller with an pre-filter possesses a disturbance rejection ability similar to a DOB-based control method. To the best of our knowledge, this is the first time that such a simple and effective PI controller is designed for the speed control of PMSMs as well as theoretically proven to have a perfect disturbance rejection ability. This paper shows the steps of selecting the parameters of the proposed controller in terms of the parameters of a desired plant model, disturbance observer and compensator. Hence, unlike a traditional DOB case, in this approach, one can simultaneously tune the controller and observer at the same time. The appearance of the pre-filter from the modified DOB scheme solves an overshoot problem, thus the general motor operation is significantly improved, which is validated by experiments. The experimental evidence under two scenarios of load torque change and speed change prove the effectiveness of the proposed method compared to conventional PI and DOB control (DOBC) schemes. All the experiments were implemented on a 300 W PMSM of a setup manufactured by Lucas-Nuelle GmbH with a digital signal processor.

Coordinated Symmetrical Altitude Position and Attitude Control for Stratospheric Airship Subject to Strong Aerodynamic Uncertainties

“…To mitigate the impact of these uncertainties, the use of a disturbance observer has emerged as a practical and unique technique. Implementing a disturbance observer allows for the estimation and compensation of multiple uncertainties, enhancing the robustness of the control system [14,15]. It is worth noting that while there have been numerous investigations focused on horizontal trajectory tracking for airships [16][17][18][19][20][21][22][23], research specifically targeting the altitude position control for stratospheric airships has been relatively scarce.…”