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Extended PI Feedback Tracking Control for Synchronous Motors
Francisco Beltran-Carbajal,Ruben Tapia-Olvera,Irvin Lopez-Garcia,Antonio Valderrabano-Gonzalez,Julio Cesar Rosas-Caro,Jose Luis Hernandez-Avila 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.6
A new dynamic feedback tracking control method of desired velocity and current profiles for permanent magnet synchronous motors, without the additional synthesis of disturbance observers and parametric identification methods, is introduced. Proportional-Integral (PI) feedback is properly extended for both efficient planned motion tracking control and simultaneous fast disturbance estimation. In this fashion, design of additional high-gain disturbance observers becomes unnecessary. This is, on-line dynamic load uncertainty estimation is simultaneously achieved by proposed tracking control implementation. Analytical and numerical results prove the efficient and robust tracking performance of controlled system variables on planned smooth motion profiles and a high-accuracy estimation of unknown high-order variable disturbances.