Robust Speed Tracking of Networked PMSM Servo Systems with Uncertain Delay

摘要：

When a Permanent Magnet Synchronous Motor (PMSM) closes its feedback loop over a digital network, uncertain network-induced delays could degrade its performance. The torque disturbance is another source to harm the performance of PMSM. This paper proposes a robust controller design method to reduce and quantify the effects of the delay and torque disturbance. By introducing an ef.cient controller structure, we transform the originally nonlinear PMSM model into a linear one. Then we design a controller robust against the feedback delay and the torque disturbance. A sufficient conditions for the robust stability is given in the form of matrix inequalities. Moreover, an upper bound on the H ∞ performance of the PMSM is provided to quantitatively measure the robustness against the uncertain feedback delays and torque disturbance. Simulations were done to verify the correctness and effectiveness of the obtained results.

关键词： Networked servo system permanent magnet synchronous motor(PMSM) robust control network delay torque disturbance

作者: Jing Li Qiang Ling Huihui Gu

作者单位: Dept. of Automation, University of Science and Technology of China, Hefei, Anhui 230027, China. lij0120

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 2140-2145

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）