Dual robust controller design for high power AC servo drive

Stone Cheng*, Yuan Yong Huang, Hsin Hung Chou

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

High power AC motors have a highly interacting multivariable control structure, and it is difficult to design high dynamic performance AC drive with traditional PID-like controller for high power AC servo motor. This paper presents analysis, design and simulation of velocity loop dual robust controller for 11kw permanent magnetic synchronous motor (PMSM) in the AC servo system. By combining PDFF-MA and H control algorithms with its own capability of achieving good performance criteria such as dynamic reference tracking and load torque disturbance rejection, The PDFF-MA controller is designed and analyzed in the forward loop to provide low frequency stiffness and overcome low-frequency disturbances like friction. To compensate the system response, moving average(MA) error filter is added. While in the feedback loop, H controller is designed to meet system robust stability with the existence of external disturbance and model perturbations. The proposed PDFF-MA and H controllers are designed based on the transfer function of the poly-phase synchronous machine in the synchronous reference frame at field orientation control (FOC). The parameter variations, load changes, and set-point variations of synchronous machine are taking into consideration to study the dynamic performance.

Original languageEnglish
Title of host publicationProceedings of the 2008 ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems, LAB-RS 2008
Pages97-102
Number of pages6
DOIs
StatePublished - 20 Oct 2008
Event2008 ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems, LAB-RS 2008 - Edinburgh, Scotland, United Kingdom
Duration: 6 Aug 20088 Aug 2008

Publication series

NameProceedings of the 2008 ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems, LAB-RS 2008

Conference

Conference2008 ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems, LAB-RS 2008
CountryUnited Kingdom
CityEdinburgh, Scotland
Period6/08/088/08/08

Keywords

  • AC servo motor
  • H feedback control
  • PDFF-MA controller

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