Research On PMSM Adaptive Backstepping Position Control Based On LINKS-RT

Permanent magnet synchronous motor(PMSM)has been widely applied to alternating current servo system owing to its superior performances such as simple structure,superior power density,high efficiency,and high reliability.The control performance of the motor system can not meet the requirements of some high-performance servo drive occasions.In order to obtain the high-performance of the motor control system,the improvement of the traditional control method has become the current research topic.For the permanent magnet synchronous motor(PMSM)system with unknown load torque,the traditional adaptive backstepping control can not observe the load torque accurately.The traditional controller can not achieve good position tracking response.The traditional adaptive backstepping control is improved for the shortcomings of the traditional control.Firstly,the mathematical model of PMSM is given,and the basic principle of PMSM vector control is introduced.Afterwards,the control principles of backstepping and adaptive backstepping are analyzed.Based on the control principles,the improved adaptive backstepping position tracking controller and the traditional adaptive backstepping position tracking controller are given,and the Luenberger load torque observer model is also given.Secondly,based on the semi-physical simulation platform,the improved adaptive backstepping control is fully studied.According to the experimental results,the improved adaptive backstepping control is compared with the traditional adaptive backstepping control,and the improved load torque adaptive law is compared with the Luenberger observer.The robustness of the improved adaptive backstepping control is analyzed.The experimental results show that the proposed load torque adaptive law retains good load torque disturbance attenuation.The improved adaptive backstepping position tracking controller has stable operation,fast position tracking response,high accuracy,strong robustness and stability performance.It can also maintain good asymptotic tracking performance under different signal inputs.The experimental results fully prove the effectiveness and feasibility of the proposed control method.Thirdly,the improved adaptive backstepping control is combined with the adaptive sliding mode control,which enhances the disturbance attenuation.The experimental results show that this method can achieve the fast asymptotical position tracking control of PMSM control system,and has good disturbance attenuation.In conclusion,for the PMSM position servo control system with unknown load torque,the novel adaptive backstepping control solves the problems of inaccurate load torque estimation,large error,slow position tracking response,large error and poor robustness of the traditional adaptive backstepping control.By combining the new adaptive backstepping control with the sliding mode variable structure control,the disturbance attenuation performance of the system is enhanced,and the good position tracking control effect is obtained.