The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Nonlinear Controller for the Velocity Tracking and Rejection of Sinusoidal Disturbances in Permanent Magnet Stepper Motors

영구 자석 스테퍼 모터의 속도 추종과 외란 제거를 위한 비선형 제어기

  • 김원희 (한양대학교 전기공학과) ;
  • 강동규 (한양대학교 전기공학과, 삼성테크윈) ;
  • 한종표 (한양대학교 전기공학과, 국방과학 연구소) ;
  • 정정주 (한양대학교 전기생체공학부)
  • Received : 2011.01.12
  • Accepted : 2011.02.23
  • Published : 2011.03.01
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Abstract

In this paper, a nonlinear controller is proposed to track the desired velocity and to cancel sinusoidal disturbances. The proposed method consists of a velocity tracking controller and internal model principles (IMPs). For the design of the velocity tracking controller, mechanical and electrical dynamic controllers are independently designed. For the mechanical dynamics, the velocity tracking controller generates the desired quadrature current to track the desired velocity. The current tracking controller is designed to guarantee the desired quadrature current and to regulate the direct current. Therefore, the proposed velocity tracking controller has a field-oriented control. Since the controllers of the mechanical and electrical dynamics are independently designed, the stability of the closed-loop system is demonstrated using passivity. Since both the cogging torque and DC current errors act as sinusoidal disturbances in PMSM, we use four add-on type IMPs that preserve the merits and performance of the pre-designed controller without sacrificing the closed-loop stability. The performance of the proposed method is validated via simulations.

Keywords

References

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