DSP-Based Robust Nonlinear Speed Control of PM Synchronous Motor

A DSP-based nonlinear speed control of a permanent magnet synchronous motor (PMSM), which is robust to unknown parameter variations and speed measurement error, is presented. The model reference adaptive system (MRAS)based adaptation mechanisms for the estimation of slowly varying parameters are derived using the MIT rule. For the disturbances or quickly varying parameters, a quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of a PMSM drive is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.