Adaptive backstepping speed controller design for a permanent magnet synchronous motor

Citations Over TimeTop 10% of 2002 papers

Abstract

In the paper, a nonlinear adaptive speed controller for a permanent magnet synchronous motor based on a newly developed adaptive backstepping approach (PMSM) is presented. The exact input-output feedback linearisation control law is first introduced without any uncertainties in the system. However, in real applications, the parameter uncertainties such as the stator resistance and viscous constant and load torque disturbance have to be considered. In this case, the exact input-output feedback linearisation approach is not very effective, because it is based on the exact cancellation of the nonlinearity. To compensate the uncertainties and the load torque disturbance, the input-output feedback linearisation approach is first used to compensate the nonlinearities in the nominal system. Then, a nonlinear adaptive backstepping control law and parameter uncertainty, and load torque disturbance adaptation laws, are derived systematically by using adaptive backstepping technique. Simulation and experimental results clearly show that the proposed adaptive scheme can track the speed reference signal generated by a reference model, successfully, and that the scheme is robust to the parameter uncertainties and load torque disturbance.

Related Papers

• → Design of Robust Adaptive Controllers for Nonlinear Systems with Dynamic Uncertainties(1998)721 cited
• → Nonlinear Adaptive Robust Control of Single-Rod Electro-Hydraulic Actuator With Unknown Nonlinear Parameters(2008)200 cited
• Adaptive backstepping control of nonlinearly parameterized systems with time-varying disturbances(2010)
• Backstepping control of passive force control system with parameter uncertainties(2010)
• Total State Feedback Control on Passive Force Control System Based on Backstepping Theory(2008)