Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 14, Issue 2, Pages 378-388Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-015-0010-6
Keywords
Adaptive control; dead-zone; fuzzy logic system; motion control; permanent magnet synchronous motor
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Funding
- National Natural Science Foundation of China [51305011]
- National Basic Research Program of China (973 Program) [2014CB046402]
- Fundamental Research Funds for the Central Universities [YWF-14-FGC-016, YWF-13-T-RSC-064]
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It is a challenging work to design high precision/high performance motion controller for permanent magnet synchronous motor (PMSM) due to some difficulties, such as varying operating conditions, parametric uncertainties and external disturbances. In order to improve tracking control performance of PMSM, this paper proposes an adaptive fuzzy robust control (AFRC) algorithm with smooth inverse based dead-zone compensation. Instead of nonsmooth dead-zone inverse which would cause the possible control signal chattering phenomenon, a new smooth dead-zone inverse is proposed for non-symmetric dead-zone compensation in PMSM system. AFRC controller is synthesized by combining backstepping technique and small gain theorem. Discontinuous projection based parameter adaptive law is used to estimate unknown system parameters. The Takagi-Sugeno fuzzy logic systems are employed to approximate the unstructured dynamics. Robust control law ensures the robustness of closed loop control system. The proposed AFRC algorithm with smooth inverse based dead-zone compensation is verified on a practical PMSM control system. The comparative experimental results indicate that the smooth inverse for non-symmetric dead-zone nonlinearity can effectively avoid the chattering phenomenon which would be caused by nonsmooth dead-zone inverse, and the proposed control strategy can improve the PMSM output tracking performance.
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