TY - GEN
T1 - Sliding mode control with friction observer and load observer of PMSM
AU - Chai, Linyuan
AU - Yao, Fenxi
N1 - Publisher Copyright:
© 2015 Institute of Control, Robotics and Systems - ICROS.
PY - 2015/12/23
Y1 - 2015/12/23
N2 - Aiming at the problems of friction and the load torque disturbance in the servo system, the Dahl friction model and the LuGre friction commonly used in servo system were analyzed and compared to discuss a modified Dahl model which could describe the phenomenon of friction well. Then based on the method of the Lyapunov stability analysis, an algorithm of friction compensation with modified Dahl model was designed, which was used to control the current loop. To observe the changes of load torque, load torque observer was designed, the result of the observation was feedback to the speed control loop and the speed loop was controlled by sliding mode control method (SMC). The results of simulation and experiment indicate that the precision of the system and the effects of load mutation rate have been improved.
AB - Aiming at the problems of friction and the load torque disturbance in the servo system, the Dahl friction model and the LuGre friction commonly used in servo system were analyzed and compared to discuss a modified Dahl model which could describe the phenomenon of friction well. Then based on the method of the Lyapunov stability analysis, an algorithm of friction compensation with modified Dahl model was designed, which was used to control the current loop. To observe the changes of load torque, load torque observer was designed, the result of the observation was feedback to the speed control loop and the speed loop was controlled by sliding mode control method (SMC). The results of simulation and experiment indicate that the precision of the system and the effects of load mutation rate have been improved.
KW - Load torque observer
KW - friction torque observer
KW - permanent magnet synchronous motor(PMSM)
KW - sliding mode control (SMC)
UR - http://www.scopus.com/inward/record.url?scp=84966397901&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2015.7364784
DO - 10.1109/ICCAS.2015.7364784
M3 - Conference contribution
AN - SCOPUS:84966397901
T3 - ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
SP - 1102
EP - 1106
BT - ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Control, Automation and Systems, ICCAS 2015
Y2 - 13 October 2015 through 16 October 2015
ER -