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ADAPTIVE POSITION CONTROL OF PERMANENT MAGNET SYCHRONOUS MOTORS
Seta BOGOSYan,Metin GOKASAN,Serhat IKIZOGLU 전력전자학회 1995 ICPE(ISPE)논문집 Vol.1995 No.10
Permanent magnet synchronous motors (PMSM) are prime candidates for high performance applications like direct drive robotics and other precision systems. With the availability of improved power electronics systems and digital signal processors at reduced cost, it has been quite common to seek higher performance levels for those systems. Especially for direct dnve applications, the variations in system parameters and the payload necessitate sophisticated control methods for their compensation. This study is about the implementation of a digital signal processor (DSP) based adaptive technique for the position control of a PMSM system, actuating a single link manipulator. The obtained experimental results indicate the success of the control method in that the system tracks the desired trajectory with minimum error under inertia and load variations with no a priori knowledge of real parameters.