(2014) Jung, Jin-Woo; Leu, Viet Quoc; Do, Ton Duc; Kim, Eun-Kyung; Choi, Han Ho; Leu, Viet Quoc
This paper proposes an adaptive
proportionalintegralderivative (PID) speed control scheme
for permanent magnet synchronous motor (PMSM) drives. The
proposed controller consists of three control terms: a
decoupling term, a PID term, and a supervisory term. The first
control term is employed to compensate for the nonlinear
factors, the second term is made to automatically adjust the
control gains, and the third one is designed to guarantee the
system stability. Different from the offline-tuning PID
controllers, the proposed adaptive controller includes adaptive
tuning laws to online adjust the control gains based on the
gradient descent method. Thus, it can adaptively deal with any
system parameter uncertainties in reality. The proposed
scheme is not only simple and easy to implement, but also it
guarantees an accurate and fast speed tracking. It is proven
that the control system is asymptotically stable. To confirm the
effectiveness of the proposed algorithm, the comparative
experiments between the proposed adaptive PID controller and
the conventional PID controller are performed on the PMSM
drive. Finally, it is validated that the proposed design scheme
accomplishes the superior control performance (faster
transient response and smaller steady-state error) compared to
the conventional PID method in the presence of parameter
uncertainties