Robust sensorless low‐speed trajectory tracking for a permanent magnet synchronous motor: An extended state observer based backstepping control approach

Abstract

This article deals with the low‐speed sensorless trajectory tracking control of a permanent magnet synchronous motor (PMSM). The rotor position and angular speed are obtained through back electromotive forces (back‐EMF), using extended state observers (ESOs) in the alpha‐beta coordinates. Additionally, the estimation of the back‐EMF is used by an algebraic module to reconstruct online the position and speed using an off‐line estimation of the back‐EMF parameter Km^. The control law is derived using a robust recursive controller design methodology, namely; the backstepping design approach in the d‐q coordinates. Estimation schemes allow the adaptation of the angular position, angular speed, and the load torque parameters in the control law. With this adaptation, the controller achieves the necessary robustness to reduce the effects of endogenous and exogenous perturbations present in the PMSM system. The trajectory tracking task is achieved at low angular speed, with the presence of a load torque applied to the motor shaft. Experimental results at low‐speed and rated load/no‐load conditions are presented to demonstrate the effectiveness and robustness of the proposed scheme.

Sensorless Tracking Control for a “Full-Bridge Buck Inverter–DC Motor” System: Passivity and Flatness-Based Design

“…This control strategy was studied initially by Sira-Ramírez (see the seminal work of Sira-Ramírez [60] for the underlying theoretical considerations and see [61] for the potential of this technique in applications). Among the numerous applications in automatic control that have been developed regarding the ETEDPOF technique, one can find those associated with traditional power electronics [61], DC motors driven by DC/DC power converters [14], [26], [32], [37], [43], [48], [51], [52], single phase active rectifiers [62], three-phase Boost rectifiers [63], airships [64], mobile robotics [65], renewable energy systems [66], separately excited DC motors [67], induction motor powered by photovoltaic panels [68], transformerless multilevel active monophase rectifiers [69], permanent magnet synchronous motors [70], and magnetorheological automotive suspensions [71]. Thus, inspired by the control applications based on the ET-EDPOF methodology, in this paper a sensorless passivitybased control that considers the ETEDPOF strategy and flatness is proposed for the new "full-bridge Buck inverter-DC motor" system.…”

Decoupled adaptive backstepping control of fractional-order permanent magnet synchronous motor

“…In recent years, domestic and foreign scholars have conducted extensive research on the control of PMSM [3]. Reference [4] implemented trajectory tracking control for PMSM based on expansive state observer. Reference [5] combined with the nonsingular terminal sliding mode control method, the convergence speed and robust performance of the system are further improved.…”

Monitoring function‐based active disturbance rejection control for uncertain systems with unknown control directions

“…1 The basic methodology, which is present in the majority of the ADRC variant schemes, involves the use of an extended observer to estimate the plant's nonmeasurable signals (i.e., state variables, unmodeled dynamics, and external disturbances) for feeding a state feedback control law for the system. [22][23][24] However, as a general hypothesis, many of the cited methods assume the knowledge of the plant input channel (control) coefficient, which is difficult to infer in the case of systems with full set of uncertain parameters. 25 For a simple example, we can mention the control of multiagents systems 26 and fault tolerant control, where a supervisory system must be designed in order to deal with changes in the controlled process.…”