Critical Review on Robust Speed Control Techniques for Permanent Magnet Synchronous Motor (PMSM) Speed Regulation

Ullah, Kifayat; Guziński, Jarosław; Mirza, Adeel Feroz

doi:10.3390/en15031235

Cited by 56 publications

(29 citation statements)

References 83 publications

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“…where u is the reduction ratio of the reducer, and ∆θ is the angle difference between the front and rear of the joint. The modeling of a permanent magnet synchronous servo motor is carried out for the control characteristics of the control system of industrial robot joint 2 servo motor, the object of a simulation study in this paper [19,20]. Let the threephase windings of the motor be A, B, and C, and the centerline of each winding is in the plane perpendicular to the rotor.…”

Section: Joint Servo Transmission System Dynamics Modelmentioning

confidence: 99%

Vibration characteristics of industrial robot joint servo transmission system based on electromechanical coupling

Hu,

Wang,

Liu

et al. 2023

Meas. Sci. Technol.

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The complex electromechanical coupling effect of an industrial robot's electromechanical system significantly influences the dynamic characteristics and stability of the joint servo transmission system. This study proposes a kind of electromechanical coupling dynamic model for the industrial robot's joint servo transmission system, incorporating multiple parameters, and investigates the vibration response characteristics of the system. Firstly, an electromechanical coupling analysis of the industrial robot's joint servo transmission system is conducted, simplifying it as a "motor-reducer-load" system and establishing the corresponding electromechanical coupling vibration mathematical model. Secondly, a dynamic model of the robot's joint servo transmission system is developed to analyze its speed characteristics. Finally, the model is used to analyze the electromechanical coupling vibration process of the joint servo transmission system with the introduction of mechanical and electrical parameters and other factors to obtain the vibration characteristics of the industrial robot joint servo transmission system under electromechanical coupling. The experimental results show that this model can better analyze the electromechanical coupling vibration characteristics of the joint servo transmission system, which is significant for improving the performance and fault traceability of the industrial robot joint transmission.

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Section: Joint Servo Transmission System Dynamics Modelmentioning

confidence: 99%

Vibration characteristics of industrial robot joint servo transmission system based on electromechanical coupling

Hu,

Wang,

Liu

et al. 2023

Meas. Sci. Technol.

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“…the proposed controller will be become sensitive to these state variation. Therefore an observer is needed like nonlinear disturbance estimator and extended state estimator [31], [32]. In this paper, an extended hyperbolic tangent state is selected to compensate GITSMC-QRL control law as follows:…”

Section: Eso Based Gitsmc-qrl Designmentioning

confidence: 99%

Anti-disturbance GITSMC with quick reaching law for speed control of PMSM drive

Halledj

Bouafassa

2022

Bulletin EEI

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In this article, in order to minimize response time and enhance anti-disturbance performance of parmanent magnet synchronous motor, a global integral terminal sliding mode control based on improved quick reaching law (GITSMC-QRL) is developed. This novel reaching law has two terms which play a key role of bringing state trajectory to sliding surface as quick as possible whenever the system is close to or far from the manifold. The proposed controller cannot only speed up the convergence rate, but also has ability to suppress the chattering and ensure finite time stability. In order to avoid the chattering phenomenon caused by load disturbances and high switching gain of sliding mode control, an extended hyperbolic tangent state observer is designed as feedforward compensation compensator that is added to GITSMC. Finally, the novel scheme is validated on paremanent magnet synchronous motor (PMSM) drive through simulation, and the comparative results in various conditions show the robustness, the feasibility and the effectiveness of the proposed controller.

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“…In terms of parametric robustness, robust control systems [19][20][21] have obviously been developed and implemented with excellent results, but the complexity of robust computational algorithms should not be neglected.…”

Section: Introductionmentioning

confidence: 99%

Control of PMSM Based on Switched Systems and Field-Oriented Control Strategy

Nicola¹,

Selişteanu

Ionete

2022

Automation

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Starting from the problem of studying the parametric robustness in the case of the control of a permanent magnet-synchronous motor (PMSM), although robust control systems correspond entirely to this problem, due to the complexity of the algorithms of the robust type, in this article the use of switched systems theory is proposed as a study option, given the fact that these types of systems are suitable both for the study of systems with variable structure and for systems with significant parametric variation under conditions of lower complexity of the control algorithms. The study begins by linearizing a PMSM model at a static operating point and continues with a systematic presentation of the basic elements and concepts concerning the stability of switched systems by applying these concepts to the control system of a PMSM based on the field-oriented control (FOC) strategy, which usually changes the value of its parameters during operation (stator resistance Rs, stator inductances Ld and Lq, but also combined inertia of PMSM rotor and load J). The numerical simulations performed in Simulink validate the fact that, for parametric variations of the PMSM structure, the PMSM control switched systems preserve qualitative performance in terms of its control. A series of Matlab programs are presented based on the YALMIP toolbox to obtain Pi matrices, by solving Lyapunov–Metzler type inequalities, and using dwell time to demonstrate stability, as well as the qualitative study of the performance of PMSM control switched systems by presenting in phase plane and state space analysis of the evolution of state vectors: ω PMSM rotor speed, iq current, and id current.

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Critical Review on Robust Speed Control Techniques for Permanent Magnet Synchronous Motor (PMSM) Speed Regulation

Cited by 56 publications

References 83 publications

Vibration characteristics of industrial robot joint servo transmission system based on electromechanical coupling

Vibration characteristics of industrial robot joint servo transmission system based on electromechanical coupling

Anti-disturbance GITSMC with quick reaching law for speed control of PMSM drive

Control of PMSM Based on Switched Systems and Field-Oriented Control Strategy

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