Additive-state-decomposition-based model predictive tracking control for PMSM servo system with multiple disturbances |
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| Institution: | 1. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110819, China;2. China Telecom Research Institute, Shanghai, China;1. School of Automation, Nanjing University of Information Science and Technology, Nanjing, 210044, China;2. Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing University of Information Science and Technology, Nanjing, 210044, China;3. Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing, 210044, China;1. Sonora Institute of Technology, 5 de Febrero 818 Sur, Obregon City, Sonora 85000, Mexico;2. Department of Electrical and Electronics Enginnering of the Sonora Institute of Technology, 5 de febrero 818 Sur, Obregon 85000, Mexico |
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| Abstract: | This paper presents an additive-state-decomposition-based model predictive tracking control and disturbance rejection method for a permanent magnet synchronous motor (PMSM) servo system subject to unknown parameter perturbations, unmodeled dynamics, and time-varying load torque. The basic idea of this method is to equivalently decompose the original system into a primary system for handling the tracking control subproblem and a secondary system for dealing with the robust stabilization subproblem. A model predictive controller is designed for the primary system to achieve high-accuracy tracking of the reference speed. As for the secondary system, a novel high-order generalized extended state observer (HGESO) is constructed to estimate the multiple disturbances simultaneously, and a state feedback control law incorporating a disturbance compensator is developed to eliminate the adverse effect of the multiple disturbances on the system output. By combining the control inputs of the two subsystems together, the control objectives of the original system can be achieved. Both the stability criterion and design procedure of the closed-loop control system are developed. Finally, hardware-in-the-loop-based comparative experiments are conducted to demonstrate that the proposed method effectively suppresses the influence of the multiple disturbances on motor speed tracking accuracy and that the control system has both satisfactory dynamic performance and robustness. |
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