This paper gives a comprehensive overview on disturbance/uncertainty estimation and attenuation (DUEA) techniques in permanent-magnet synchronous motor (PMSM) drives. Various disturbances and uncertainties in PMSM and also other alternating current (ac) motor drives are first reviewed which shows they have different behaviors and appear in different control loops of the system. The existing DUEA and other relevant control methods in handling disturbances and uncertainties widely used in PMSM drives, and their latest developments are then discussed and summarized. It also provides in-depth analysis of the relationship between these advanced control methods in the context of PMSM systems. When dealing with uncertainties, it is shown that DUEA has a different but complementary mechanism to widely used robust control and adaptive control. The similarities and differences in disturbance attenuation of DUEA and other promising methods such as internal model control and output regulation theory have been analyzed in detail. The wide applications of these methods in different ac motor drives (in particular in PMSM drives) are categorized and summarized. Finally, the paper ends with the discussion on future directions in this area.

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Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey

Control in Power Electronics : selected problems

A new continuous dynamic sliding-mode control (CDSMC) method is proposed for high-order mismatched disturbance attenuation in motion control systems using a high-order sliding-mode differentiator. First, a new dynamic sliding surface is developed by incorporating the information of the estimates of disturbances and their high-order derivatives. A CDSMC law is then designed for a general motion control system with both high-order matched and mismatched disturbances, which can attenuate the effects of disturbances from the system output. The proposed control method is finally applied for the airgap control of a MAGnetic LEViation (MAGLEV) suspension vehicle. Simulation results show that the proposed method exhibits promising control performance in the presence of high-order matched and mismatched disturbances.

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High-Order Mismatched Disturbance Compensation for Motion Control Systems Via a Continuous Dynamic Sliding-Mode Approach

This paper proposes a novel decoupling scheme for a bearingless permanent-magnet synchronous motor (BPMSM) to achieve fast-response and high precision performances and to guarantee the system robustness to the external disturbance and parameter uncertainty. The proposed control scheme incorporates the neural network inverse (NNI) method and 2-degree-of-freedom (DOF) internal model controllers. By introducing the NNI systems into the original BPMSM system, a decoupled pseudo-linear system can be constituted. Additionally, based on the characteristics of the pseudo-linear system, the 2-DOF internal model control theory is utilized to design extra controllers to improve the robustness of the whole system. Consequently, the proposed control scheme can effectively improve the static and dynamic performances of the BPMSM system, as well as adjust the tracking and disturbance rejection performances independently. The effectiveness of the proposed scheme has been verified by both simulation and experimental results.

High-Performance Control for a Bearingless Permanent-Magnet Synchronous Motor Using Neural Network Inverse Scheme Plus Internal Model Controllers

This paper proposes a novel class of adaptive extended state observers (AESOs) that significantly expand the applications of extended state observers (ESOs) to nonlinear disturbed systems. An AESO is designed as a linear time-varying form that, as a result, combines both the advantages of theoretical completeness in a conventional linear ESO (LESO) and good practical performance in a conventional nonlinear ESO (NESO). To tune the time-varying observer gains, AESO error dynamics is first transformed into a canonical (phase-variable) form. Then, time-varying PD-eigenvalues are assigned for the canonical system based on differential algebraic spectral theory. Theorems for stability and estimate error bounds of the AESO are given in the presence of unknown disturbances. These theorems also offer some important guidelines for assigning the PD-eigenvalues. To demonstrate the effectiveness of this new observer, two representative applications, including a numerical single-input–single-output example and a practical multiple-input–multiple-output hypersonic vehicle application, are exemplified, and comparison simulations are conducted among AESO, LESO, and NESO. Future work is pointed out in the end.

A Class of Adaptive Extended State Observers for Nonlinear Disturbed Systems

The sensorless control system of permanent magnet synchronous motor (PMSM) fed by current source inverter is presented in this paper. The adaptive backstepping control system and the backstepping speed observer are presented. The control systems are based on multiscalar variables. The control variables are dc-link voltage and the output current vector pulsation. The control system was named the voltage control system because of the fact that the first control variable is voltage in dc-link. The machine inverter is treated as a commutator. It works with constant modulation index. The proposed control system is robust on mechanical and electromagnetical parameters of the motor. The adaptive estimator of the stator resistance is introduced. Such an approach to control of the PMSM motor gives better performance. It is robust to dynamic uncertainties and does not require knowledge of the system parameters. The mathematical equation was introduced. Simple method limitation of control variables is explained. The reference variables must be limited to a constant or various value if the motor system has to be used in the industrial applications. The simulation and experimental test are shown.

The Adaptive Backstepping Control of Permanent Magnet Synchronous Motor Supplied by Current Source Inverter

This paper contains a relatively new synthesis method for nonlinear objects, which is named backstepping. This method can be used to obtain the observer structure. This paper presents the structure of the speed observer, which is a new proposition of observer backstepping with additional state variables marked $Z$ . The rotor speed can be estimated in three different ways. The first is based on the adaptive approach, the second on the nonadaptive approach, and the third on improvement of the adaptive approach. The stability of the Z-type observer is determined by the Lyapunov stability criteria. Despite this, stability analysis around the machine's working point is undertaken. All the machine tests are prepared in the sensorless control system based on multiscalar variables. The experimental results show the effectiveness of the proposed solution. The squirrel-cage model parameter estimation is not presented in this paper.

Z-Type Observer Backstepping for Induction Machines

This article presents the control possibility of five-phase induction machines. In the proposed solution, the machine model vector form is not transformed to the ( dq )-coordinate system, that is connected to the rotor flux vector, but utilizes the stationary system (α β ). Moreover, the nonlinear model linearization is based on demonstrated nonlinear variables transformation for i -orthogonal $(\alpha \beta)_{(n)}$ planes. By introducing the backstepping approach, the independent stabilization of electromagnetic torque and rotor flux in each plane is obtained. A practical stability analysis of the proposed controller for a multiphase machine is illustrated as well. Finally, experimental test results are demonstrated for a specific speed sensorless five-phase induction motor test setup.

Feedback Control of Multiphase Induction Machines With Backstepping Technique

This article presents an analysis of the two speed observer structures which are based on the backstepping and sliding super twisting approach. The observer stabilizing functions result from the Lyapunov theorem. To obtain the observer tuning gains the observer structure is linearized near the equilibrium point. The rotor angular speed is obtained from nonadaptive dependence. In the sensorless control system structure the classical PI controllers and transformation to the multiscalar variables are applied. The theoretical derivations are verified in experimental waveforms. Comparison of both speed observer structures is presented for nominal speed, load torque injections while regenerating mode, very low speed range and the uncertainties of nominal parameters of induction machine.

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Speed Observer Structure of Induction Machine Based on Sliding Super-Twisting and Backstepping Techniques

This article proposes a speed observer algorithm for the sensorless control of a doubly fed induction generator based on classical adaptive backstepping technique. The sensorless control is shown using classic stator field oriented control, which is use to active and reactive power control. Performance of the proposed algorithm of a speed observer is validated by simulation and experimental results obtained using a small-rating generator and bidirectional voltage source converter. The stability analysis of the presented solution with regard to observer gains changes is also considered.

Marcin Morawiec

Papers

The Adaptive Backstepping Control of Permanent Magnet Synchronous Motor Supplied by Current Source Inverter

Z-Type Observer Backstepping for Induction Machines

Feedback Control of Multiphase Induction Machines With Backstepping Technique

Speed Observer Structure of Induction Machine Based on Sliding Super-Twisting and Backstepping Techniques

Sensorless Rotor Position Estimation of Doubly Fed Induction Generator Based on Backstepping Technique