SPEED CONTROL OF A PERMANENT MAGNET SYCHRONOUS MOTOR USING A ROBUST NONLINEAR CONTROLLER

Abstract

In the presented research work, a sliding mode controller (SMC) combined with a linear quadratic regular (LQR) has proposed to design a new controller that will use for controlling the speed of the permanent magnet synchronous motor (PMSM) system. It is common in controller design to the control speed of the motor. PMSM is widely using in various domains such as vehicle propulsion, robotics motion, actuators, and drives of different machines in the industry. SMC technique improves the performance of the motor with the reduction of wear & tear and pulsation in the system. Whereas, the advantages of a Linear Quadratic Regulator are: easy to implement, provides best possible performance with the minimization of an index, and presents the relationship between variables response and control effort that assures the system stability. In SMC techniques, the reaching law SMC technique is using to control the speed of the motor. In reaching method of sliding mode control scheme having a sliding surface which mainly depends upon exponential term. Additionally, an extended sliding mode disturbance observer is placed as a feedforward to compensate for the lumped disturbance of the system. Stability is one of the prime objectives which will achieve by implementing the Lyapunov stability theorem. For the application of the LQR technique, first, we will linearize the model. The LQR technique will be applied to obtain the eigenvalues of the linearized model. These eigenvalues will be optimal and will be helpful in the design of optimal sliding surfaces for the sliding mode control. The simulation will carry out with the help of MATLAB. Results of this simulation will present in later chapters of this report.