Sliding Mode Control with Observer for PMSM Based on Stribeck Friction Model

Author

Dong Chen ; Fenxi Yao ; Senchun Chai

Author_Institution

Sch. of Autom., Beijing Inst. of Technol., Beijing, China

Volume

1

fYear

2014

Firstpage

469

Lastpage

472

Abstract

Performance of a low-speed servo system may deteriorate due to the influence of ripple torque, measurement noise and friction torque, etc. Among them nonlinear friction is the main factor influencing the low-speed performance of permanent magnet synchronous motor (PMSM). A dual-closed-loop model of PMSM including measured Stribeck friction disturbance factors is established and the simulation results show that friction can lead to "dead zone" of speed tracking and "flat top" of position tracking with traditional PID algorithm. A method of Sliding Mode Control (SMC) combined with friction observer is proposed and the results show that it can improve tracking precision and robust performance of the system effectively.

Keywords

closed loop systems; friction; observers; permanent magnet motors; synchronous motors; three-term control; variable structure systems; PID algorithm; PMSM; Stribeck friction disturbance factor; Stribeck friction model; dual-closed-loop model; friction observer; low-speed servo system; nonlinear friction; permanent magnet synchronous motor; proportional-integral-derivative algorithm; sliding mode control; Adaptation models; Friction; IEEE Press; Induction motors; Observers; Servomotors; Torque; Friction Observer; PMSM; SMC; Stribeck Friction Model;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence and Design (ISCID), 2014 Seventh International Symposium on

Print_ISBN

978-1-4799-7004-9

Type

conf

DOI

10.1109/ISCID.2014.216

Filename

7064236