Position tracking control of PMSM based on fuzzy PID-variable structure adaptive control

DOI10.1155/2018/5794067MaRDI QIDQ1721129zbMATH OpenOpenAlexWikidataFDO

Authors Pei Pei, Zhongcai Pei, Zhiyong Tang, Han Gu, Carlos Llopis-Albert

Publication date 8 February 2019

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2018/5794067

Mathematics Subject Classification ID

Variable structure systems (93B12) Adaptive control/observation systems (93C40) Fuzzy control/observation systems (93C42) Application models in control theory (93C95)

Review text

Summary: A novel Fuzzy PID-Variable Structure Adaptive Control is proposed for position tracking of Permanent Magnet Synchronous Motor which will be used in electric extremity exoskeleton robot. This novel control method introduces sliding mode variable structure control on the basis of traditional PID control. The variable structure term is designed according to the sliding mode surface which is designed by system state equation, so it could compensate for the disturbance and uncertainty. Considering the chattering of sliding mode system, the fuzzy inference method is adopted to adjust the parameters of PID adaptively in real time online, which can attenuate chattering and improve control precision and dynamic performance of system correspondingly. In addition, compared with the traditional sliding mode control, this method takes the fuzzy PID control item to replace the equivalent control item of sliding mode variable structure control, which could avoid the control performance reduction resulted from modeling error and parameter error of system. It is proved that this algorithm can converge to the sliding surface and guarantee the stability of system by Lyapunov function. Simulation results show that Fuzzy PID-Variable Structure Adaptive Control enjoys better control precision and dynamic performance compared with traditional control method, and it improves the robustness of system significantly. Finally, the effectiveness and practicability of the algorithm are verified by the method of Rapid Control Prototyping on the semiphysical simulation test bench.

Recommendations

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Cites work

• Extended state observer-based sliding mode control with new reaching law for PMSM speed control

Cited in

(6)

• Novel predictive control for the IPMSM fed by the 3L-SNPC inverter for EVAs: modified Lyapunov function, computational efficiency, and delay compensation
• Nonlinear disturbance observer-based sliding mode control for the PMSM with matched and mismatched disturbances
• Sliding mode variable structure control for surface permanent magnet synchronous motors based on a fuzzy exponential reaching law
• PID position regulation in one-degree-of-freedom Euler–Lagrange systems actuated by a PMSM
• The Study of Voice Coil Motor Position Control System Based on Fuzzy Nonlinear PID
• Development of an extended proportional-integral-proportional control for improving positional motion performance of permanent magnet synchronous motor-driven servomechanism

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