A Novel Direct Instantaneous Torque and Flux Control With an ADALINE-Based Motor Model for a High Performance DD-PMSM

This paper presents a novel direct instantaneous torque and flux controller with an adaptive linear neuron (ADALINE)-based motor model for a high-performance direct drive permanent magnet synchronous motor (DD-PMSM). Usually, high-performance motor drives are characterized by their fast and accurate response, quick recovery from disturbances, and insensitivity to parameter variations. However, the absence of the auxiliary mechanisms in direct drives, such as gears or ball screws, increases the sensitivity of the servo performance to uncertainties in the drive system. Practically, uncertainties are usually composed of torque ripple, parameter variations, external disturbances and un-modeled dynamics. To achieve fast and smooth torque production in a DD-PMSM, the proposed controller has a linear with variable-structure control element to control the torque angle increment and a dynamic internal model element within the flux control loop. With this novel configuration, the controller can embed more frequency modes within the stable closed loop system to cancel the torque ripples. To relax the parameters sensitivity issue, this study proposes an ADALINE-based motor model to robustly extract the instantaneous torque information and unknown motor parameters with low computational demand and high accuracy. Comparative experiments are presented to demonstrate the validity and effectiveness of the proposed control scheme.