Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic Disturbances
Position-dependent periodic disturbances often limit the accuracy and smoothness of the positional motion of permanent magnet synchronous motor (PMSM)-driven rotary machines. Because the period of these disturbances varies with the motion velocity of the rotary machine, spatial domain control method...
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2024-11-01
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| author | Syh-Shiuh Yeh Zhi-Hong Liu |
| author_facet | Syh-Shiuh Yeh Zhi-Hong Liu |
| author_sort | Syh-Shiuh Yeh |
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| description | Position-dependent periodic disturbances often limit the accuracy and smoothness of the positional motion of permanent magnet synchronous motor (PMSM)-driven rotary machines. Because the period of these disturbances varies with the motion velocity of the rotary machine, spatial domain control methods such as spatial iterative learning control (SILC) and spatial repetitive control (SRC) have been proposed and applied to improve rotary machine motion control designs. However, problems with learning period convergence and rotary machine dynamics significantly affect transient motion, further constraining the overall motion performance. To address these challenges, this study developed a robust driving control (RDC) that integrates a robust control design with position-dependent periodic disturbance feedforward compensation, rotary machine dynamics compensation, and proportional–proportional integral feedback control. A position-dependent periodic disturbance model was developed using multiple position–sinusoidal signals and identified using a spatial fast Fourier transform. RDC compensates for disturbances and dynamics and considers the effects of model parameter uncertainty and modeling error on the stability of the control system. Several motion control experiments were conducted on a PMSM test bench to compare the RDC, SILC, and SRC. The experimental results demonstrated that although both SILC and SRC can effectively suppress position-dependent periodic disturbances, SILC provides slower position error convergence owing to the learning process, and SILC and SRC result in significant position errors because of the influence of the PMSM-driven rotary machine dynamics. RDC not only suppresses position-dependent periodic disturbances, but also significantly reduces position errors with a reduction rate of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>90</mn><mo>%</mo></mrow></semantics></math></inline-formula>. Therefore, the RDC developed in this study effectively suppressed position-dependent periodic disturbances and significantly improved both the transient-state and steady-state position-tracking performances of the PMSM-driven rotary machine. |
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| publishDate | 2024-11-01 |
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| series | Machines |
| spelling | doaj-art-606d64be95a9461faa35109b752356dc2025-08-20T01:54:02ZengMDPI AGMachines2075-17022024-11-01121177110.3390/machines12110771Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic DisturbancesSyh-Shiuh Yeh0Zhi-Hong Liu1Department of Mechanical Engineering, National Taipei University of Technology, Taipei 10608, TaiwanInstitute of Mechatronic Engineering, National Taipei University of Technology, Taipei 10608, TaiwanPosition-dependent periodic disturbances often limit the accuracy and smoothness of the positional motion of permanent magnet synchronous motor (PMSM)-driven rotary machines. Because the period of these disturbances varies with the motion velocity of the rotary machine, spatial domain control methods such as spatial iterative learning control (SILC) and spatial repetitive control (SRC) have been proposed and applied to improve rotary machine motion control designs. However, problems with learning period convergence and rotary machine dynamics significantly affect transient motion, further constraining the overall motion performance. To address these challenges, this study developed a robust driving control (RDC) that integrates a robust control design with position-dependent periodic disturbance feedforward compensation, rotary machine dynamics compensation, and proportional–proportional integral feedback control. A position-dependent periodic disturbance model was developed using multiple position–sinusoidal signals and identified using a spatial fast Fourier transform. RDC compensates for disturbances and dynamics and considers the effects of model parameter uncertainty and modeling error on the stability of the control system. Several motion control experiments were conducted on a PMSM test bench to compare the RDC, SILC, and SRC. The experimental results demonstrated that although both SILC and SRC can effectively suppress position-dependent periodic disturbances, SILC provides slower position error convergence owing to the learning process, and SILC and SRC result in significant position errors because of the influence of the PMSM-driven rotary machine dynamics. RDC not only suppresses position-dependent periodic disturbances, but also significantly reduces position errors with a reduction rate of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>90</mn><mo>%</mo></mrow></semantics></math></inline-formula>. Therefore, the RDC developed in this study effectively suppressed position-dependent periodic disturbances and significantly improved both the transient-state and steady-state position-tracking performances of the PMSM-driven rotary machine.https://www.mdpi.com/2075-1702/12/11/771robust driving controlprecise positional motionpermanent magnet synchronous motorrotary machineposition-dependent periodic disturbance |
| spellingShingle | Syh-Shiuh Yeh Zhi-Hong Liu Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic Disturbances Machines robust driving control precise positional motion permanent magnet synchronous motor rotary machine position-dependent periodic disturbance |
| title | Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic Disturbances |
| title_full | Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic Disturbances |
| title_fullStr | Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic Disturbances |
| title_full_unstemmed | Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic Disturbances |
| title_short | Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic Disturbances |
| title_sort | robust driving control design for precise positional motions of permanent magnet synchronous motor driven rotary machines with position dependent periodic disturbances |
| topic | robust driving control precise positional motion permanent magnet synchronous motor rotary machine position-dependent periodic disturbance |
| url | https://www.mdpi.com/2075-1702/12/11/771 |
| work_keys_str_mv | AT syhshiuhyeh robustdrivingcontroldesignforprecisepositionalmotionsofpermanentmagnetsynchronousmotordrivenrotarymachineswithpositiondependentperiodicdisturbances AT zhihongliu robustdrivingcontroldesignforprecisepositionalmotionsofpermanentmagnetsynchronousmotordrivenrotarymachineswithpositiondependentperiodicdisturbances |