Data-driven adaptive fractional order PI control for PMSM servo system with measurement noise and data dropouts

Xie, Yuanlong; Tang, Xiaoqi; Song, Bao; Zhou, Xiangdong; Guo, Yixuan

doi:10.1016/j.isatra.2018.02.018

Cited by 44 publications

(14 citation statements)

References 48 publications

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“…In this paper, the symmetric constraint δ f = −δ r is used in this paper, which implies that the turning radius of the vehicle can be reduced up to 35% by using four-wheel symmetric steering system without crossing the practical limitations [32]. Note that the repeated switching of the sliding surface raises chattering and the gains of the hitting law, that is, ξ 1 and ξ 2 , determines the chattering intensity.…”

Section: A Kinematic Steering Regulationsmentioning

confidence: 99%

Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

et al. 2019

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Four-wheel redundantly-actuated mobile robot (FRMR) offers high controllability and maneuverability for automation applications. However, the robot dynamics and actuator failures are normally omitted in existing kinematic control schemes, which may lead to steering vibration and degraded robustness. To deal with these problems, a fault-tolerant dynamic control method is developed for precise trajectory tracking of the FRMR, which utilizes a two-level structure to cover the wheel-ground interactions and possible actuator failures. In the high level, with a novel fractional-order sliding mode control, this method offers an effective way to regulate the steering angle and eliminate the rotation chattering simultaneously. For the redundantly-actuated issue, a robust allocation solution is presented in the lower level to straightly determine optimal driving torques with full considerations of actuator failures and optimization efficiency. The convergence and stability of the achieved FRMR system are guaranteed theoretically. The experimental comparative results verify that higher tracking precision and enhanced robustness can be obtained using our proposed method. INDEX TERMS Fault-tolerant dynamic control, four-wheel redundantly-actuated mobile robot, fractional-order sliding mode control, wheel-ground interactions.

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Section: A Kinematic Steering Regulationsmentioning

confidence: 99%

Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

et al. 2019

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“…Fractional order PID controller is a generalization of traditional PID controller [17]. Differential control is not usually used for permanent magnet synchronous motor control, so the transfer function of PI lambda controller [20] is as follows: (12) Where s = jω is complex frequency, kp is proportional constant, ki is integral constant, and λ is real number. Consider using the fuzzy logic algorithm to adjust the parameters in (1).…”

Section: Fractional Order Pi Controller(pi λ )mentioning

confidence: 99%

“…YUE [11] applies fractional-order PID control algorithm to direct torque control (DTC) scheme and combines it with support vector machine pulse width modulation (SVPWM) to improve the dynamic performance and anti-interference ability of PMSM speed control. XIE [12] presents a data-driven Adaptive Fractional Order proportional integration (AFOPI) control method. The closed-loop process data are used to design AFOPI controllers with unknown noise distribution and data loss probability.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy PI<sup>λ</sup> Position Control Method for Permanent Magnet Synchronous

Zhong¹,

Lin²,

Xu³

2019

Preprint

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Permanent magnet synchronous motor (PMSM) AC servo system shows the characteristics of uncertainty, time-varying and non-linearity, which makes it difficult for traditional PID control to achieve ideal control effect. Fuzzy control has strong adaptability to the problems of parameter variation, non-linearity and model inaccuracy of the controlled object. Vector control strategy is used to study its control principle and the realization of SVPWM. Because the motor object has certain fractional order characteristics, the fuzzy parameter self-tuning PIλ control is chosen as the position regulator of servo motor. It combines the accuracy of fractional order PI control and the adaptability of fuzzy control. A simulation model of PMSM three-closed-loop system is built in MATLAB/Simulink environment. The results show that the control method is effective and can satisfy the trajectory tracking of servo control.

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“…Permanent-magnet synchronous motors are widely used in various applications due to their simple control, high efficiency, good torque characteristics, and low loss [1]. Current control methods for PMSM include proportional-integral-derivative (PID), sliding mode, adaptive, predictive, and active disturbance rejection control [2][3][4][5]. However, the application environment is generally complex and often has various disturbances because PMSM is a nonlinear, multivariable, and strongly coupled system.…”

Section: Introductionmentioning

confidence: 99%

Speed Control of PMSM Based on an Optimized ADRC Controller

Meng

Liu

Wang

2019

Mathematical Problems in Engineering

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Permanent-magnet synchronous motor (PMSM) is a nonlinear, multivariate, strongly coupled system with uncertain external interference. A general control method cannot meet system requirements. This study proposes an optimal control strategy based on active disturbance rejection control (ADRC) to achieve high-precision control of PMSM. First, interpolation fitting is used to construct a nonlinear function with improved continuity and derivative near the origin and segment points. Second, various components of active disturbance rejection control are constructed based on the new nonlinear function, which mainly improves the extended state observer and nonlinear state error feedback. Simulation results show that under similar parameters, the improved active disturbance rejection control has smaller overshoot, faster tracking capacity, and stronger anti-interference capability compared with traditional active disturbance rejection control. Finally, the optimized active disturbance rejection control is used in the motion control system of PMSM. Experimental results show that the proposed optimal control strategy is simple and has good control performance.

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Data-driven adaptive fractional order PI control for PMSM servo system with measurement noise and data dropouts

Cited by 44 publications

References 48 publications

Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

Fuzzy PI<sup>λ</sup> Position Control Method for Permanent Magnet Synchronous

Speed Control of PMSM Based on an Optimized ADRC Controller

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Data-driven adaptive fractional order PI control for PMSM servo system with measurement noise and data dropouts

Cited by 44 publications

References 48 publications

Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

Fuzzy PI<sup>&lambda;</sup> Position Control Method for Permanent Magnet Synchronous

Speed Control of PMSM Based on an Optimized ADRC Controller

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Fuzzy PI<sup>λ</sup> Position Control Method for Permanent Magnet Synchronous