Robust Nonlinear Speed Tracking Control of Sinusoidal-Field Synchronous Servo Drive Using Adaptive Backstepping Design Strategy

Abstract

In this paper a new robust no linear speed tracking control design for Permanent Magnet Synchronous Motor (PMSM) based on adaptive backstepping technique is presented. The backstepping control laws are designed to achieve high-performance speed tracking. The feedback system is globally asymptotically stable in the sense of the lyapunov stability theory.
The PMSM drive systems are often faced with unavoidable and unmeasurable disturbances or some parameter variations. The flux linkage varies non-linearly with the temperature rise. Coupling the load with the motor shaft may cause variations of the inertia and viscous friction despite the load variation. The stator winding resistance may vary due to heating. The adaptive backstepping controller can compensate the unknown system parameters and disturbances, and reject any bounded unmeasurable disturbances entering the system. The obtained performances were improved via the introduction of an integral action in the design procedure. The steady state performances of the backstepping-based controller are, thus, enhanced. In presence of non-zero mean perturbations, this modification guarantees vanishing residual errors. Voltage level control inputs and adaptation laws are designed using adaptive backstepping design methodology.
With the proposed control of speed, the controlled PMSM drive possesses the advantages of good transient performance and robustness to parametric uncertainties. Moreover the proposed control scheme resolve