A gain-scheduled multivariable LQR controller for permanent magnet synchronous motor

Author

Brasel, Michal

Author_Institution

Fac. of Electr. Eng., West Pomeranian Univ. of Technol., Szczecin, Szczecin, Poland

fYear

2014

fDate

2-5 Sept. 2014

Firstpage

722

Lastpage

725

Abstract

The paper presents a gain-scheduled LQR control system for a nonlinear model of permanent magnet synchronous motor (PMSM). The most popular cascade FOC (Field Oriented Control) structure including a few single-loop PI control systems is replaced with a single multivariable state feedback controller. Due to a nonlinear nature of the PMSM dynamics equations the developed gain-scheduled controller is tuned in relation to the changeable operating conditions of the motor. In order to ensure zero steady-state speed error the system synthesis is carried out by means of the LQ optimal control method with state vector augmentation. The presented simulation results show that the use of gain-scheduled controller may improve control quality.

Keywords

PI control; cascade control; linear quadratic control; machine control; multivariable control systems; nonlinear control systems; permanent magnet motors; state feedback; synchronous motors; vectors; LQ optimal control method; PMSM dynamics equations; cascade FOC structure; cascade field oriented control structure; control quality improvement; gain-scheduled LQR control system; gain-scheduled controller tuning; gain-scheduled multivariable LQR controller; nonlinear model; permanent magnet synchronous motor; single multivariable state feedback controller; single-loop PI control systems; state vector augmentation; system synthesis; zero steady-state speed error; Adaptation models; Control systems; Mathematical model; Permanent magnet motors; Rotors; Torque; Vectors; Gain-scheduled LQR controller; Multivariable Control Systems; Nonlinear Systems; Permanent Magnet Synchronous Motor;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4799-5082-9

Type

conf

DOI

10.1109/MMAR.2014.6957443

Filename

6957443