Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Research Article
Unknown Disturbance Estimation for a PMSM with a Hybrid
Sliding Mode Observer
Gang Chen,1,2 Yong Zhou,3 TingTing Gao,2 and Qicai Zhou1
1
1. Introduction
In real industrial application, the unknown disturbance
on a permanent-magnet synchronous motor (PMSM) is
inevitable and it limits the performance of the controlled
processes. For such a situation, a robust observer with high
estimation accuracy is required to recover the uncertainty in
real time.
The sliding-mode-based observer has been proven to be
an effective approach for handling uncertain systems, due
to its capability of reconstructing the uncertainties based
on the equivalent injection input concept [13], and there
are many effective results presented during past years [4
13]. In [14], a sliding mode flux observer is developed for
an induction motor, and the unknown rotor resistance can
be reconstructed from a switching function after the sliding
surface driven to zero. In [15, 16], the sliding mode observer is
used to identify the back-EMFs for a PMSM. However, such
results require a low-pass filter for the uncertainties reconstruction because of the discontinuous switching feedback,
and the uncertainty estimation accuracy is greatly dependent
on the low-pass filter parameters.
2.1. Mathematical Model. The state equation of a surfacemounted magnet brushless AC motor in stationary -
reference frame is given by [24]:
3 2
( sin + cos ) ,
2
x = Ax + (x, ) + P (x) () ,
(3)
= Cx,
where x = [1 , 2 , . . . , ] R and
0
I
A = [ (1)1 (1)(1) ] ,
011
01(1)
(4)
C = [1 0 0] R
(x) = [0, . . . , 0, (1 , . . . , ) , . . . , (1 , . . . , )] ,
P (x) = [0, . . . , 0, 1, +1 (1 , . . . , ) , . . . , (1 , . . . , )]
(5)
= {
(6)
0, if ,
V, if < ,
L = [1 2 ] R ,
(1)
= ,
=
2. Preliminary
= + sin + ,
= cos + ,
(2)
(7)
3. Observer Design
Consider the mechanical dynamic system described in (2);
the rotor position is measurable, and the target is to estimate
the unknown disturbance , as well as the angular speed .
It is well-known that there are many methodologies
to estimate the angular speed based on the measurable
position . One common method is based on the back = [ (1) ]/ , where
forward differentiator; that is,
is the sampling time and subscript denotes the variable
value at time = . For such method, the estimation
error is proportional to sampling time. On the other hand,
small sampling time may enlarge the numerical error of (
1 ), especially at low rotor speed and low position sensor
resolution situation.
As mentioned in the previous section, in order to simplify
the hybrid observer structure and remove the digital filtering
effect, we will consider using the second-order twisting
algorithm for the unknown disturbance estimation.
The system diagram is shown in Figure 1. The first
observer (speed observer) will be performed to identify
the rotor speed without involving the operation of inverse
of sampling time, that is, 1/ . Then the second observer
(disturbance observer) ensures the unknown disturbance
can be identified online without digital filtering effect. Finally,
one can use the identified disturbance to compensate the
control loop to improve the robustness of the control system.
3.1. Speed Observer. By considering the rotor speed as
the system uncertainty, a hybrid sliding mode observer is
designed in the form of
= 1 1 + 1 ,
(8)
Controller
u
+
+ TL
L
T
+
PMSM plant
Speed observer
+
Disturbance observer
(10)
(11)
(12)
1 () + V1
(9)
V1 = 11 sign ( ) 12 sign ( ) .
Here, 1 is the upper bound of the nonlinear feedback
term, and it is chosen large enough, as 1 ||.
Then, 11 and 12 are the properly chosen positive sliding
gains.
+ 11 1 sign (1 )
(13)
= 1 [1 () 12 sign (1 )]
1 (1 12 )
which implies that it has 2 < 0 if the sliding gains are
chosen large enough; that is, 11 > 12 > 1 . In other words,
2000
1000
0
0.5
1.5
2.5
3
Time (s)
3.5
4.5
1.5
2.5
3
Time (s)
3.5
4.5
1.5
3.5
4.5
Speed (rad/s)
Real positon
Est. position
1000
500
0
0.5
Real speed
Est. speed
Disturbance (Nm)
1 ) 22 sign (
1 ) ,
V2 = 21 sign (
4
600 rad/s
2.5
8 mH
0.00027 kgm2
0.04 Nm/rad/s
0.041 Nm/WbA
3000
=
2 2 2 ,
( sin + cos )
2
0, if 2 2 ,
(14)
2 = {
V2 , if 2 < 2 ,
Pole pairs
Rating speed
Resistance
Inductance
Inertia
Viscous-friction coefficient
Field flux-related coefficient
Position (rad)
10
0
10
0
0.5
2.5
Time (s)
Real disturbance
Est. disturbance
2 = 2 2 2 + 2 .
(15)
= 2
(16)
4. Simulation Result
In this section, we consider the simulation on a PMSM with
its parameters being given in Table 1.
To demonstrate the proposed observers performance, a
speed open loop control platform is used, with the unknown
5
3000
Position (rad)
Position (rad)
3000
2000
1000
0
0.5
1.5
2.5
3.5
4.5
2000
1000
0
0.5
1.5
Time (s)
1000
500
0
0.5
1.5
2.5
3.5
4.5
0.5
1.5
3.5
4.5
2.5
3
Time (s)
3.5
4.5
2.5
Real speed
Est. speed
0
10
1.5
2.5
3
Time (s)
3.5
4.5
Disturbance (Nm)
Disturbance (Nm)
Time (s)
10
4.5
500
Real speed
Est. speed
0.5
1000
Time (s)
3.5
Real positon
Est. position
Speed (rad/s)
Speed (rad/s)
Real positon
Est. position
2.5
3
Time (s)
10
0
10
0
Real disturbance
Est. disturbance
1.5
Position (rad)
3000
2500
2000
1500
1000
500
0
0.5
1.5
2.5
3
Time (s)
3.5
4.5
3.5
4.5
Real positon
Est. position
1000
Speed (rad/s)
Real disturbance
Est. disturbance
0.5
800
600
400
200
0
0.5
1.5
2.5
Time (s)
Real speed
Est. speed
3000
10
2500
Position (rad)
Disturbance (Nm)
5
0
5
10
15
0.5
1.5
2.5
3
Time (s)
3.5
4.5
2000
1500
1000
500
0
1.5
2.5
3
Time (s)
3.5
4.5
3.5
4.5
1000
Speed (rad/s)
Plant input
Real positon
Est. position
Real disturbance
Est. disturbance
500
400
300
200
100
0
100
0.5
0.5
1.5
2.5
3.5
4.5
800
600
400
200
0
0.5
1.5
Time (s)
Disturbance (Nm)
4.3. Proposed Hybrid Sliding Mode Observer. Last, the proposed hybrid sliding mode observers in (8)(14) are applied.
The parameters and initial conditions are chosen the same as
above, and the simulation result is shown in Figure 4.
It is clear that, with the proposed hybrid sliding mode
observer, the unknown disturbance can be identified with
high accuracy and much faster than the pure sliding mode
observer because of the additional high gain feedback terms.
15
10
5
0
5
10
15
0.5
1.5
2.5
3
Time (s)
3.5
4.5
2.5
3
Time (s)
3.5
4.5
Real disturbance
Est. disturbance
Plant input
Real speed
Est. speed
Real input
Compensation
2.5
Time (s)
500
400
300
200
100
0
100
0.5
1.5
Real input
Compensation
5. Conclusion
Based on the measurable current and rotor position,
a hybrid sliding mode observer is developed for the unknown
disturbance estimation on a permanent-magnetic AC motor.
The proposed observer has a simple structure and ease for real
implementation in digital signal processor, and the unknown
disturbance will be identified without digital filtering effect.
Moreover, the identified disturbance can be used to compensate online the speed closed loop control system to improve
the robustness.
[13]
[14]
[15]
Conflict of Interests
The authors declare that there is no conflict of interests
regarding the publication of this paper.
[16]
References
[17]
[18]
[19]
[20]
[21]
[22]
[23]
[24]
Advances in
Operations Research
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Advances in
Decision Sciences
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Journal of
Applied Mathematics
Algebra
Volume 2014
Journal of
The Scientific
World Journal
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
International Journal of
Differential Equations
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Volume 2014
Advances in
Combinatorics
Hindawi Publishing Corporation
http://www.hindawi.com
Mathematical Physics
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Journal of
Complex Analysis
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
International
Journal of
Mathematics and
Mathematical
Sciences
Mathematical Problems
in Engineering
Journal of
Mathematics
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Volume 2014
Volume 2014
Volume 2014
Discrete Mathematics
Journal of
Volume 2014
Discrete Dynamics in
Nature and Society
Journal of
Function Spaces
Hindawi Publishing Corporation
http://www.hindawi.com
Abstract and
Applied Analysis
Volume 2014
Volume 2014
Volume 2014
International Journal of
Journal of
Stochastic Analysis
Optimization
Volume 2014
Volume 2014