Robust sensorless speed tracking controller for surface-mount permanent magnet synchronous motors subjected to uncertain load variations

ABSTRACT

We address a solution of the sensorless high-speed tracking control problem for surface-mount permanent magnet synchronous motors under load torque variations. Since the only available measurements are the stator currents, the proposed scheme consists of a second-order sliding-mode observer interconnected with an ${\mathcal{H}}_{\mathrm{\infty }}$ controller. Thus, disregarding the use of additional sensors to measure the mechanical variables. The observer-controller interconnection is robust against uncertainties and unknown load torque variations. First, the observer estimates rotor angular position and speed variables, theoretically, in finite-time. Then, an ${\mathcal{H}}_{\mathrm{\infty }}$ controller attenuates the effects of uniformly bounded disturbances. Sufficient conditions are provided to ensure that the closed-loop system is stable. Moreover, it is internally asymptotically stable in the absence of uncertainties and external disturbances. The analysis shows that the observer-controller system possesses an ${\mathcal{L}}_2$-gain less than a priori given disturbance attenuation level. Emulation trials showed the feasibility of the method.

Keywords:

• Surface-mounted PMSM
• sensorless control
• ${\mathcal{H}}_{\mathrm{\infty }}$-control
• second order sliding-mode observer
• $L_2$-gain analysis

Disclosure statement

No potential conflict of interest was reported by the authors.

ORCID

L. T. Aguilar http://orcid.org/0000-0001-6603-6485

R. Ramírez-Villalobos http://orcid.org/0000-0001-9506-5613

A. Ferreira de Loza http://orcid.org/0000-0003-1189-0857

L. N. Coria http://orcid.org/0000-0002-1219-0433

Additional information

Funding

This work was supported by CONACYT [grant number 285279].

Notes on contributors

L. T. Aguilar

L. T. Aguilar received B. E. degree in industrial electronics engineering from the Instituto Tecnologico de Tijuana, Tijuana, Mexico, in 1994; the M.Sc. degree in digital systems from the Centro de Investigacion y Desarrollo de Tecnologia Digital—Instituto Politécnico Nacional (CITEDI-IPN), Tijuana, in 1998; and the Ph.D. degree in electronics and telecommunications from the Research Center, Center for Scientific Research and Higher Education of Ensenada, Ensenada, Mexico, in 2003. He has authored over 100 refereed journal and conference papers, and four research monographs. He hold a Full Professor position at the Research Center, CITEDI-IPN, since 2004. His current research interests include variable structure systems, nonlinear H-infinity control, and control of electromechanical systems. He is currently an Associate Editor of the SAGE International Journal of Advanced Robotic Systems (IJARS) and IEEE Latin America Transactions.

R. Ramírez-Villalobos

R. Ramírez-Villalobos received his B. E. degree in Electronic Engineering (2010) from Instituto Tecnologico de Tijuana, his M.S. in Digital Systems (2012) from Instituto Politecnico Nacional and his Dr. Sc. in Engineering (2017) from Instituto Tecnologico de Tijuana with contributions in applied mathematics. Currently, he is a professor at the Instituto Tecnologico de Tijuana and a member of the Mexican System of Researchers. His current research focuses on applied mathematics concerning diverse areas of engineering.

A. Ferreira de Loza

A. Ferreira de Loza was born in Mexico in 1976. She received the B. E., M. E., and Ph.D. degrees from the National Autonomous University of Mexico (UNAM), Mx, in 2003, 2007, and 2010, respectively. She has spent four years as a postdoctoral researcher. From 2010 to 2012, she was appointed at LAMIH, University of Valenciennes, and Hainaut-Cambrésis, Fr. From 2012 to 2013, she was at IMS Lab, University of Bordeaux, Fr. In 2013 she worked at CINVESTAV Monterrey, Mx. Since 2014 she works at IPN-CITEDI, Tijuana, Mx, where she is currently a CONACyT research fellow. She has coauthored over 30 refereed journals and conferences. Her professional interests are observation and identification of nonlinear systems, sliding-mode control, as well as their applications to automotive control, autonomous vehicles, among others.

L. N. Coria

L. N. Coria received the B.E degree in Electronic Engineering (2000) from Instituto Tecnologico de Durango. He also obtains an M. Sc. in Digital Systems (2005) and Ph. D. in Electronics and Communications (2010) from Instituto Politecnico Nacional, with contributions in applied mathematics. He is currently a professor at the Instituto Tecnologico de Tijuana and a member of the Mexican System of Researchers. His current research focuses on applied mathematics concerning diverse areas of engineering.