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Research Papers

Novel Adaptive Recurrent Legendre Neural Network Control for PMSM Servo-Drive Electric Scooter

[+] Author and Article Information
Chih-Hong Lin

Department of Electrical Engineering,
National United University,
No. 1, Lienda, Kung-Jing Li,
Miaoli 36003, Taiwan
e-mail: jhlin@nuu.edu.tw

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 24, 2013; final manuscript received April 21, 2014; published online August 28, 2014. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 137(1), 011010 (Aug 28, 2014) (12 pages) Paper No: DS-13-1412; doi: 10.1115/1.4027507 History: Received October 24, 2013; Revised April 21, 2014

Because an electric scooter driven by permanent magnet synchronous motor (PMSM) servo system has the unknown nonlinearity and the time-varying characteristics, its accurate dynamic model is difficult to establish for the design of the linear controller in whole system. In order to conquer this difficulty and raise robustness, a novel adaptive recurrent Legendre neural network (NN) control system, which has fast convergence and provide high accuracy, is proposed to control for PMSM servo-drive electric scooter under external torque disturbance in this study. The novel adaptive recurrent Legendre NN control system consists of a recurrent Legendre NN control with adaptation law and a remunerated control with estimation law. In addition, the online parameter tuning methodology of the recurrent Legendre NN control and the estimation law of the remunerated control can be derived by using the Lyapunov stability theorem. Finally, comparative studies are demonstrated by experimental results in order to show the effectiveness of the proposed control scheme.

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Figures

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Fig. 1

Block diagram of the PMSM servo-drive electric scooter system

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Fig. 2

Block diagram of the novel adaptive recurrent Legendre NN control system

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Fig. 3

Structure of the three-layer recurrent Legendre NN

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Fig. 4

Photo of the experimental setup

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Fig. 5

Experimental result of the PI controller for the PMSM servo-drive electric scooter at 125.6 rad/s case for speed tracking response

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Fig. 6

Experimental result of the PI controller for the PMSM servo-drive electric scooter at 125.6 rad/s case for position tracking response

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Fig. 7

Experimental result of the PI controller for the PMSM servo-drive electric scooter at 125.6 rad/s case for current tracking response

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Fig. 8

Experimental result of the PI controller for the PMSM servo-drive electric scooter at 251.2 rad/s case for speed tracking response

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Fig. 9

Experimental result of the PI controller for the PMSM servo-drive electric scooter at 251.2 rad/s case for position tracking response

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Fig. 10

Experimental result of the PI controller for the PMSM servo-drive electric scooter at 251.2 rad/s case for current tracking response

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Fig. 11

Experimental result of the PID controller for the PMSM servo-drive electric scooter at 125.6 rad/s case for speed tracking response

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Fig. 12

Experimental result of the PID controller for the PMSM servo-drive electric scooter at 125.6 rad/s case for position tracking response

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Fig. 13

Experimental result of the PID controller for the PMSM servo-drive electric scooter at 125.6 rad/s case for current tracking response

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Fig. 14

Experimental result of the PID controller for the PMSM servo-drive electric scooter at 251.2 rad/s case for speed tracking response

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Fig. 15

Experimental result of the PID controller for the PMSM servo-drive electric scooter at 251.2 rad/s case for position tracking response

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Fig. 16

Experimental result of the PID controller for the PMSM servo-drive electric scooter at 251.2 rad/s case for current tracking response

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Fig. 17

Experimental result of the three-layer feedforward NN control system for the PMSM servo-drive electric scooter at 125.6 rad/s case for speed tracking response

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Fig. 18

Experimental result of the three-layer feedforward NN control system for the PMSM servo-drive electric scooter at 125.6 rad/s case for position tracking response

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Fig. 19

Experimental result of the three-layer feedforward NN control system for the PMSM servo-drive electric scooter at 125.6 rad/s case for current tracking response

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Fig. 20

Experimental result of the three-layer feedforward NN control system for the PMSM servo-drive electric scooter at 251.2 rad/s case for speed tracking response

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Fig. 21

Experimental result of the three-layer feedforward NN control system for the PMSM servo-drive electric scooter at 251.2 rad/s case for position tracking response

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Fig. 22

Experimental result of the three-layer feedforward NN control system for the PMSM servo-drive electric scooter at 251.2 rad/s case for current tracking response

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Fig. 23

Experimental result of the novel adaptive recurrent Legendre NN control system for the PMSM servo-drive electric scooter at 125.6 rad/s case for speed tracking response

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Fig. 24

Experimental result of the novel adaptive recurrent Legendre NN control system for the PMSM servo-drive electric scooter at 125.6 rad/s case for position tracking response

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Fig. 25

Experimental result of the novel adaptive recurrent Legendre NN control system for the PMSM servo-drive electric scooter at 125.6 rad/s case for current tracking response

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Fig. 26

Experimental result of the novel adaptive recurrent Legendre NN control system for the PMSM servo-drive electric scooter at 251.2 rad/s case for speed tracking response

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Fig. 27

Experimental result of the novel adaptive recurrent Legendre NN control system for the PMSM servo-drive electric scooter at 251.2 rad/s case for position tracking response

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Fig. 28

Experimental result of the novel adaptive recurrent Legendre NN control system for the PMSM servo-drive electric scooter at 251.2 rad/s case for current tracking response

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Fig. 29

Experimental result of the PI controller under Tl = 2 Nm load torque disturbance with adding load and shedding load at 251.2 rad/s case

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Fig. 30

Experimental result of the PID controller under Tl = 2 Nm load torque disturbance with adding load and shedding load at 251.2 rad/s case

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Fig. 31

Experimental result of the three-layer feedforward NN control system under Tl = 2 Nm load torque disturbance with adding load and shedding load at 251.2 rad/s case

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Fig. 32

Experimental result of the novel adaptive recurrent Legendre NN control system under Tl = 2 Nm load torque disturbance with adding load and shedding load at 251.2 rad/s case

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