Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

In this paper, the speed tracking for permanent magnet synchronous motor (PMSM) in field oriented control (FOC) method is investigated using linear proportional-integral (PI) controller, sliding mode controller (SMC) and its advanced counterparts. The advanced SMCs considered in this paper are fuzzy SMC (FSMC) and sliding mode controller with time-varying switching gain (SMC+TG) which can effec...

Two rotor position estimation methods for a dual three-phase (DTP) permanent magnet synchronous machine (PMSM) are investigated in this article, where the is estimated by exploiting saliency of motor through phase current derivative measurement during fundamental PWM excitation standard six-phase two-level inverter. It found that DTP PMSM, wide speed range possible not only torque-producing sub...

Abstract This study investigates the chaos control in permanent magnet synchronous motor (PMSM) using a Lyapunov‐based model predictive approach subject to data loss. PMSM, as rich nonlinear dynamic, can demonstrate chaotic behavior when its parameters are certain area. Thus, performance of system will degrade this condition. Moreover, some networked applications, especially modern automation i...

In this paper, an improved online particle swarm optimization (PSO) is proposed to optimize the traditional search controller for improving operating efficiency of permanent magnet synchronous motor (PMSM). This algorithm combines advantages attraction and repulsion PSO distributed that can help find optimal d - axis air gap current quickly accurately under non-stationary conditions, thereby mi...

Abstract DSP-based on-line dead time compensation strategy of a permanent magnet synchronous motor (PMSM) drive through a signal processing and harmonic extraction for a robot arm application is proposed. The proposed scheme is based on monitoring the fifth-order harmonic component through the signal processing and harmonic component extraction. The proposed scheme does not require a periodic i...

7 www.erpublication.org  Abstract— The main objective of this paper is to provide a position sensorless control scheme for permanent magnet synchronous motor (PMSM) drive using a sliding mode observer (SMO). The rotor position and speed are estimated with only measuring stator voltages and currents. Compared with traditional SMO, the sign function is replaced by a sigmoid function in order to ...

This paper investigates an improved stator flux linkage observer for sensorless permanent magnet synchronous motor (PMSM) drives using a voltage-based flux linkage model and an adaptive sliding mode variable structure. We propose a new observer design that employs an improved sliding mode reaching law to achieve better estimation accuracy. The design includes two models and two adaptive estimat...

To improve the dynamic performances of the permanent magnet synchronous motor (PMSM) drive, a novel implementation of speed controller based on adaptive fuzzy logic is presented in this paper. Using the output of the fuzzy speed controller (FC), the quadrature axis current reference value can be obtained. At the same time, the outputs of the current controller can be corrected by the disturbanc...