Adaptive Robust Control of High Speed Motor Based on Characteristic Model

This paper is concerned with the adaptive robust control problem for high-speed permanent magnet synchronous motor(HPMSM) in the presence of difficult to accurately model, parameter uncertainty and external disturbance. Compared with the control based on characteristic model, the inherent nonlinear characteristics and uncertainties of HPMSM make the traditional feedback proportional-integral-derivative (PID) control unable to meet the high performance requirements. Furthermore, The traditional modeling method of permanent magnet synchronous motor ignores the influence of iron loss and hysteresis loss, the influence of the above neglect will be amplified with the increase of motor speed in the process of high-speed operation. In this paper, based on the idea of characteristic modeling, an adaptive robust controller based on continuous characteristic model is proposed. The characteristic model is used to describe the high-speed motor system, which is convenient for the design of controller and easy for engineering application. Aiming at the unknown characteristic parameters of HPMSM control system, a parameter updating law is designed to estimate them. In addition, a robust integral of the saturation of the error feedback is developed for counteract the influence of modeling uncertainty to ensure robust performance. The hardware experiment of HPMSM control system verifies the effectiveness of the proposed method.