Current-Constrained Adaptive Robust Control for Uncertain PMSM Drive Systems: Theory and Experimentation

In this article, we investigate the speed tracking control problem for permanent magnet synchronous motor (PMSM) drive systems. In particular, the current constraint, parametric uncertainties, and the external load disturbance are addressed simultaneously. To deal with these issues, we first propose a system transformation scheme, which equivalently transforms a PMSM system with the current constraint into the one without any constraints, thereby reducing the difficulties in the controller design caused by the current constraint. Based on the transformed system, the adaptive parameter estimation and robust control are integrated to derive a current-constrained adaptive robust controller (CCARC), which guarantees robust tracking performance under the current constraint, parametric uncertainties and external load disturbance. For the closed-loop system, the Lyapunov-based analysis is provided to show convergence and stability. Finally, the effectiveness of the proposed method is experimentally validated using a 5.5 kW PMSM.