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.

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Fig. 1

The control structure

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Fig. 2

The fuzzy robust control loop structure

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Fig. 4

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

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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

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Fig. 8

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

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Fig. 10

position tracking responses at different position reference

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Fig. 11

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

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Fig. 12

Angular position responses with varying Rs and Bm

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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



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