0
Research Papers

Position and Current Control of an Interior Permanent-Magnet Synchronous Motor by Using Loop-Shaping Methodology: Blending of H Mixed-Sensitivity Problem and T–S Fuzzy Model Scheme

[+] Author and Article Information
Vahid Azimi

Young Researchers and Elite Club,
Qazvin Branch,
Islamic Azad University,
Qazvin, Iran 3416616114
e-mail: vahid.azimii@gmail.com

Ahmad Fakharian

Department of Electrical and Computer Engineering,
Islamic Azad University, Qazvin Branch,
Qazvin, Iran 1478735564
e-mail: ahmad.fakharian@qiau.ac.ir

Mohammad Bagher Menhaj

Department of Electrical Engineering,
Amirkabir University of Technology,
Tehran, Iran 3416616114
e-mail: Menhaj@aut.ac.ir

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received April 21, 2012; final manuscript received March 30, 2013; published online May 27, 2013. Assoc. Editor: Eugenio Schuster.

J. Dyn. Sys., Meas., Control 135(5), 051006 (May 27, 2013) (11 pages) Paper No: DS-12-1115; doi: 10.1115/1.4024200 History: Received April 21, 2012; Revised March 30, 2013; Accepted April 10, 2013

This paper presents a robust mixed-sensitivity H controller design via loop-shaping methodology for a class of multiple-input multiple-output (MIMO) uncertain nonlinear systems. In order to design this controller, the nonlinear plant is first modeled as several linear subsystems by Takagi and Sugeno's (T–S) fuzzy approach. Both loop-shaping methodology and mixed-sensitivity problem are then introduced to formulate frequency-domain specifications. Afterward for each linear subsystem, a regional pole-placement output-feedback H controller is employed by using linear matrix inequality (LMI) approach. The parallel distributed compensation (PDC) is then used to design the controller for the overall system. Several experimental results show that the proposed method can effectively meet the performance requirements like robustness, good load disturbance rejection, and both tracking and fast transient responses even in the presence of parameter variations and load disturbance for the three-phase interior permanent-magnet synchronous motor (IPMSM). Finally, the superiority of the proposed control scheme is approved in comparison with the input–output linearization (I/O linearization) and the H2/H controller methods.

FIGURES IN THIS ARTICLE
<>
Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.

References

Lin, C.-K., Liu, T.-H., and Yang, S.-H., 2008, “Nonlinear Position Controller Design With Input–Output Linearisation Technique for an Interior Permanent Magnet Synchronous Motor Control System,” IET Trans. Power Electron., 1(1), pp. 14–26. [CrossRef]
Yang, S. S., and Zhong, Y. S., 2007, “Robust Speed Tracking of Permanent Magnet Synchronous Motor Servo Systems by Equivalent Disturbance Attenuation,” IET Control Theory, 1(3), pp. 595–603. [CrossRef]
Su, Y. X., Zheng, C. H., and Duan, B. Y., 2005, “Automatic Disturbances Rejection Controller for Precise Motion Control of Permanent-Magnet Synchronous Motors,” Ind. Electron. IEEE Trans., 52(3), pp. 814–823. [CrossRef]
Chou, M.-C., and Liaw, C.-M., 2009, “Development of Robust Current 2-DOF Controllers for a Permanent Magnet Synchronous Motor Drive With Reaction Wheel Load,” IEEE Trans. Power Electron., 24(5), pp. 1304–1320. [CrossRef]
Lin, C.-K., Liu, T.-H., and Fu, L.-C., 2011, “Adaptive Back Stepping PI Sliding-Mode Control for Interior Permanent Magnet Synchronous Motor Drive Systems,” Proceedings of American Control Conference.
Azimi, V., Nekoui, M. A., and Fakharian, A., 2012,” Robust Multi-Objective H2/H Tracking Control Based on T-S Fuzzy Model for a Class of Nonlinear Uncertain Drive Systems,” Proc. Inst. Mech. Eng. Part I: J. Syst. Control Eng., 226(8), pp. 1107–1118. [CrossRef]
Laghrouche, S., Plestan, F., and Glumineau, A., 2004, “A Higher Order Sliding Mode Controller for a Class of MIMO Nonlinear Systems: Application to PM Synchronous Motor Control,” Proceedings of American Control Conference.
Foo, G., and Rahman, M. F., 2010, “Sensorless Sliding-Mode MTPA Control of an IPM Synchronous Motor Drive Using a Sliding-Mode Observer and HF Signal Injection,” IEEE Trans. Ind. Electron., 57(4), pp. 1270–1278. [CrossRef]
Chen, B.-S., and Wu, C.-H., 2010, “Robust Optimal Reference-Tracking Design Method for Stochastic Synthetic Biology Systems: T-S Fuzzy Approach” IEEE Trans. Fuzzy Syst., 18(6), pp. 1144–1159. [CrossRef]
Wai, R.-J., and Yang, Z.-W., 2008, “Adaptive Fuzzy Neural Network Control Design via a T-S Fuzzy Model for a Robot Manipulator Including Actuator Dynamics,” IEEE Trans. Syst., Man, Cybern., Part B: Cybern., 38(5), pp. 1326–1346. [CrossRef]
Shayeghi, H., Jalili, A., and Shayanfar, H. A., 2008, “A Robust Mixed H2/H Based LFC of a Deregulated Power System Including SMES,” Energy Convers. Manage., 49(10), pp. 2656–2668. [CrossRef]
Iqbal, A., Wu, Z., and Amara, F. B., 2010, “Mixed-Sensitivity Hinf Control of Magnetic-Fluid-Deformable Mirrors,” IEEE/ASME Trans. Mechatron., 15(4), pp. 548–556. [CrossRef]
Ortega, M. G., Vargas, M., Castano, F., and Rubio, F. R., 2006, “Improved Design of the Weighting Matrices for the S/KS/T Mixed Sensitivity Problem-Application to a Multivariable Thermodynamic System,” IEEE Trans. Control Syst. Technol., 14(1), pp. 82–90. [CrossRef]
Assawinchaichote, W., Nguang, S. K., and Shi, P., 2006, Fuzzy Control and Filter Design for Uncertain Fuzzy Systems, Springer-Verlag, Berlin/Heidelberg.
Tanaka, K., and Wang, H. O., 2001, Fuzzy Control Systems Design and Analysis, John Wiley & Sons, Inc., New York.
Hua, Ch., Wang, Q.-G., and Guan, X., 2009, “Robust Adaptive Controller Design for Nonlinear Time-Delay Systems vis T-S Fuzzy Approach,” IEEE Trans. fuzzy Syst., 17(4), pp. 901–910. [CrossRef]
Zheng, F., Wang, Q.-G., and Lee, T. H., 2004, “Adaptive and Robust Controller Design for Uncertain Nonlinear Systems via Fuzzy Modeling Approach,” IEEE Trans. Syst., Man Cybern.,Part B: Cybern., 34(1), pp. 166–178. [CrossRef]
Lee, G., You, K., Kang, T., Yoon, K. J., Lee, J. O., and Park, J. K., 2010, “Modeling and Design of H Controller for Piezoelectric Actuator LIPCA,” J. Bion. Eng., 7(2), pp. 168–174. [CrossRef]
Yue, D., and Lam, J., 2004, “Suboptimal Robust Mixed H2/H Controller Design for Uncertain Descriptor Systems With Distributed Delays,” Comput. Math. Appl., 47(6–7), pp. 1041–1055. [CrossRef]
Li, T.-H., Tsai, S. H., Lee, J. Z., Hsiao, M. Y., and Chao, C. H., 2008, “Robust H Fuzzy Control for a Class of Uncertain Discrete Fuzzy Bilinear Systems,” IEEE Trans. Syst., Man, Cybern., Part B: Cybern., 38(2), pp. 510–527. [CrossRef]
El-Mahallawy, A. A., Yousefb, H. A., El-Singabyc, M. I., Madkoura, A. A., and Youssefa, A. M., 2011, “Robust Flight Control System Design Using H Loop-Shaping and Recessive Trait Crossover Genetic Algorithm,” Expert Syst. Appl., 38(1), pp. 169–174. [CrossRef]
Alavi, S. M. M., and Hayes, M. J., 2009, “Robust Active Queue Management Design: A Loop-Shaping Approach,” Comput. Commun., 32(2), pp. 324–331. [CrossRef]
Patra, S., Sen, S., and Ray, G., 2008, “Design of Static H Loop Shaping Controller in Four-Block Framework Using LMI Approach,” Automatica, 44(8), pp. 2214–2220. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

The control structure

Grahic Jump Location
Fig. 2

The fuzzy robust control loop structure

Grahic Jump Location
Fig. 4

The membership functions for (a) M1(v1) and M2(v1) and (b) M3(v2) and M4(v2)

Grahic Jump Location
Fig. 6

Time responses of the proposed model (solid) and the original nonlinear model (dashed): (a) Angular position of motor shaft, (b) angular speed, (c) d-axis current, and (d) q-axis current

Grahic Jump Location
Fig. 8

Disturbance rejection on angular position (a) with step load torque (1 Nm) and (b) with benchmark load torque (Fig. 5)

Grahic Jump Location
Fig. 10

position tracking responses at different position reference

Grahic Jump Location
Fig. 11

Comparison of transient responses (a) certain step position and (b) rectangular position command

Grahic Jump Location
Fig. 12

Angular position responses with varying Rs and Bm

Grahic Jump Location
Fig. 13

(a) Ws-1 matrix as an upper bound of the S1 and S2 uncertainty and (b) WT-1 matrix as an upper bound of the T1 and T2 uncertainty

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In