A robust adaptive precision position control of PMSM


A new control method for precision robust position control of a permanent magnet synchronous motor (PMSM) is presented. In direct drive motor systems, a load torque disturbances directly affects the motor shaft. The application of the load torque observer using a fixed gain to solve this problem was published by J.S. Ko et al. (see IEEE Trans. Ind. Electron., vol.40, no.5, p.512-20, 1993). However, the motor flux linkage cannot be determined precisely for a load torque observer. Therefore, an asymptotically stable adaptive observer based on a deadbeat observer is considered to overcome the problems of unknown parameters, torque disturbance and a small chattering effect. To find the critical parameters the system stability analysis is carried out using the Lyapunov stability theorem.

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@article{Ko2002ARA, title={A robust adaptive precision position control of PMSM}, author={Jongsun Ko and Sungkoo Youn and Youngil Kim}, journal={Conference Record of the 2002 IEEE Industry Applications Conference. 37th IAS Annual Meeting (Cat. No.02CH37344)}, year={2002}, volume={1}, pages={120-125 vol.1} }