Adaptive PID Speed Control Design for Permanent Magnet Synchronous Motor Drives

Abstract

Abstract-Thispaper proposes an adaptive proportionalintegralderivative (PID) speed control scheme for permanent magnet synchronous motor (PMSM) drives. The proposed controller consists of three control terms: a decoupling term, a PID term, and a supervisory term. The first control term is employed to compensate for the nonlinear factors, the second term is made to automatically adjust the control gains, and the third one is designed to guarantee the system stability. Different from the offline-tuning PID controllers, the proposed adaptive controller includes adaptive tuning laws to online adjust the control gains based on the gradient descent method. Thus, it can adaptively deal with any system parameter uncertainties in reality. The proposed scheme is not only simple and easy to implement, but also it guarantees an accurate and fast speed tracking. It is proven that the control system is asymptotically stable. To confirm the effectiveness of the proposed algorithm, the comparative experiments between the proposed adaptive PID controller and the conventional PID controller are performed on the PMSM drive. Finally, it is validated that the proposed design scheme accomplishes the superior control performance (faster transient response and smaller steady-state error) compared to the conventional PID method in the presence of parameter uncertainties.Index Terms-Adaptive control, parameter uncertainties, PID control, surface-mounted permanent magnet synchronous motor (SPMSM). I. INTRODUCTIONN recent years, the ac motors are extensively applied in home appliances as well as industrial applications such as electric vehicles, wind generation systems, industrial robots, air conditioners, washing machines, etc. There are two main categories of the ac motors: induction motors (IMs) and permanent magnet synchronous motors (PMSMs). Nowadays, the IMs are used in about 70% of industrial electric motors due The authors are with the Division of Electronics and Electrical Engineering, Dongguk University, Seoul 100-715, Korea (E-mail: tonducdo@dongguk.edu).to their simplicity, ruggedness, and low production costs [1]- [5]. Despite that, the PMSMs are gradually taking over the IMs owing to their high efficiency, low maintenance cost, and high power density. However, the PMSM system is not easy to control because it is a nonlinear multivariable system and its performance can be highly affected by parameters variations in the run time [6]- [9]. Therefore, researchers always desire to design a high-performance controller which has a simple algorithm, fast response, high accuracy, and robustness against the motor parameter and load torque variations.Traditionally, the proportional-integral-derivative (PID) controller is widely adopted to control the PMSM systems in industrial applications owing to its simplicity, clear functionality, and effectiveness [10]. However, a big problem of the traditional PID controller is its sensitivity to the system uncertainties. Thus, the control performance of the conventional PID method can be seriou...

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