Practical robust stabilization of PMAC servo drive based on continuous variable structure control

In the paper, the two stage control design of a high performance PM AC servo drive is described. In the first stage, the nominal PM AC motor model is discussed as an analytical nonlinear system, transformed into the controllable canonical Brunovsky's form on the basis of input-output linearizat...

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Bibliographic Details
Published in:IEEE transactions on energy conversion 1996-12, Vol.11 (4), p.708-714
Main Authors: Grcar, B., Cafuta, P., Znidaric, M.
Format: Article
Language:English
Subjects:
AC motors
Applied sciences
Control design
Electrical engineering. Electrical power engineering
Electrical machines
Exact sciences and technology
Linear feedback control systems
Lyapunov method
Nonlinear control systems
Nonlinear systems
Regulation and control
Robustness
Servomechanisms
Signal design
Torque
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Summary:In the paper, the two stage control design of a high performance PM AC servo drive is described. In the first stage, the nominal PM AC motor model is discussed as an analytical nonlinear system, transformed into the controllable canonical Brunovsky's form on the basis of input-output linearization. The influence of the load torque is considered implicitly by introducing the disturbance observer. Due to the sensitivity of the nominal model-based control to parameter perturbations the linear tracking control is extended in the second stage by a continuous variable structure stabilizing control derived from Lyapunov's function of the augmented feedback system. The design of the variable structure control requires no knowledge of the upper bounds of the perturbation function; instead, it considers the variable bounds of the available control signal. Undesired chattering of states and controlled variables are excluded. The introduced two stage control design assures practical robust stabilization for the class of bounded nonlinear perturbations satisfying the matching conditions without affecting the relative degree of the feedback system. Experimental results of the proposed PM AC servo drive control are also presented.
ISSN:0885-8969
1558-0059
DOI:10.1109/60.556367