Fuzzy PI-type current controllers for permanent magnet synchronous motors

This study proposes a robust fuzzy PI-type current controller for a permanent magnet synchronous motor (PMSM). The proposed current control law consists of two control terms: a decoupling control term and a fuzzy PI control term. The decoupling controller accounts for the non-linearity of a PMSM model, and the fuzzy PI controller stabilises the decoupled dynamics. Based on Kharitonov´s theorem, the stability condition, which can guarantee the asymptotic stability of the closed-loop system, is derived. Simulation and experimental results are presented to demonstrate the feasibility of the proposed control scheme using a prototype 1 HP PMSM servo system.