Expansion of the Control Range of a Synchronous Electric Drive with an Adaptive Controller under Conditions of Small Signals with Allowance for Nonlinear Friction

• Published in: Russian electrical engineering 2023-03, Vol.94 (3), p.155-161
• Main Authors: Kuznetsov, V. E., Lukichev, A. N., Bogdanova, S. M., Filatov, D. M.
• Format: Article
• Language: English
• Subjects: Adaptive algorithms; Adaptive control; Control algorithms; Control methods; Electric drives; Electric motors; Engineering; Friction; Low speed; Machines; Manufacturing; Processes; Steering
• ISSN: 1068-3712; 1934-8010
• DOI: 10.3103/S1068371223030094

When designing steering electric drives of autonomous objects, as a rule, it is required to develop new control algorithms with an extended range and control quality. The possibilities of improving the dynamic performance of an electric drive when working in the range of small speed settings and the influence of nonlinear characteristics of friction forces is significant are studied. An approach to the construction of an adaptive algorithm using the small parameter and separation methods of motion is considered. The energy efficiency of an adaptive control in the formation of the required dynamic performances of a synchronous electric drive is studied, taking into account the influence of nonlinear friction, which causes intermittent oscillatory motion of the output shaft. The proposed control method is compared with the existing ones using the physical layout of an electric drive with an HPM3000B electric motor. The results of the study of improving the dynamic properties of electric drive in the range of nominal values of speed and torque, as well as at low speed settings, when friction becomes intermittent, are presented.