Research On Internal Model And Adaptive Dynamic Programming Based Speed Control Of Permanent Magnet Synchronous Motor

Permanent magnet synchronous motor(PMSM)has been generous applied in various fields for its simple structure,high efficiency,rapid response and high power density.As for its control method,the conventional proportional-integral(PI)control method is widespread in PMSM control system due to its simplicity,but it can hardly guarantee satisfactory control precision when PMSM is under external disturbance and parameter variation.Output regulation theory mainly focuses on asymptotic tracking and disturbance rejection.Robust output regulation theory can also achieve the asymptotic tracking with system parameter variation and optimal output regulation theory together with adaptive dynamic programming(ADP)can utilize data-based approach to achieve asymptotic tracking,disturbance rejection and better dynamic performance with unknown system parameter.Therefore,it is of great significance to improve the control performance of PMSM for studying the application of robust output regulation theory and optimal output regulation theory in PMSM servo system.In this paper,based on two different control methods,the speed tracking and disturbance rejection problem of PMSM servo system with unknown parameters are studied respectively,and the simulation and experimental results in these two cases are given respectively.The main work is as follows:(1)Based on the internal model method,the speed tracking and disturbance rejection problem of PMSM servo system with parameter variation are solved.In this paper,the cascaded structure of speed-current loop is adopted.The internal model controller is designed for the speed loop,and the PI controllers are designed for the current loops and the final controller is given.This method can not only ensure the system has good speed tracking and disturbance rejection performance,but also allow all motor parameters to be uncertain.The simulation results verify the effectiveness of the designed controller.(2)Based on the ADP method,the speed tracking and disturbance rejection problem of PMSM servo system with unknown parameters are solved.In this paper,the cascaded structure of speed-current loop is adopted..An adaptive optimal state feedback controller is designed for the speed loop and PI controllers are designed for the current loops and the final controller is given.This method can not only ensure the system has good speed tracking and disturbance rejection performance,but also has good dynamic performance.The simulation results verify the effectiveness of the designed controller.(3)The experimental study of the two proposed speed controllers in the practical PMSM experimental platform is conducted.The linear optimal output regulation theory is applied to the speed tracking control problem of PMSM for the first time and the experimental results are given,which is the first verification of the solution to the optimal output regulation problem based on ADP.The experimental results show that both of the two methods can ensure the system has good performance of speed tracking and disturbance rejection.In addition,the optimal state feedback controller based on ADP method is helpful to improve the dynamic performance of the system.