Robust control of synchronous motors with non-linearities and parameter uncertainties (Q1295139)

Most frequently the equations of a permanent magnet synchronous motor are expressed in a \((d, q)\)-frame and the coupling between the angular velocity and the electrical quantities results in a bilinear model with the angular velocity as a natural output to be controlled. If model parameters are perfectly known, nonlinearities can be canceled by proper selection of state feedback controls via exact feedback linearization. When model parameters are imperfectly known, nonlinearities can only be partially canceled by this technique and parameter uncertainty perturbs the equations of motion in a nonlinear way. An important aspect of the control problem in this case is to obtain dynamic performances as far as possible insensitive to deviations of motor dynamic parameters and resistant torque from their nominal values. In this paper, uncertainty sources are considered simultaneously. In particular, the authors consider variations of stator resistance and inductance, variations due to friction and resistant torque, the presence of nonlinear terms depending on these parameters. The application of a robust control technique to a synchronous motor, based on the \(H^\infty\) approach, is shown. The control strategy is based on a worst-case analysis and leads to the formulation of a min-max problem, whose solution provides an \(H^\infty\) bound for the noise-to-output transfer function. The design of the dynamic controller is reduced to the solution to an appropriate Riccati equation. The application of this technique and simulation results are presented, showing the performance of the controller in a number of different operating conditions.