Robust Cascade Control of Electric Motor Drives Using Dual Reduced-Order PI Observer

This paper addresses the problem of preserving the nominal performance of a conventional cascade controller for electric motor drives in the presence of parameter uncertainties and external disturbances. Practical reduced-order proportional-integral (PI) observers are incorporated with predesigned P...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2015-06, Vol.62 (6), p.3672-3682
Main Authors: Son, Young Ik, Kim, In Hyuk, Choi, Dae Sik, Shim, Hyungbo
Format: Article
Language:English
Subjects:
Approximation
Cascade control
Control systems
Disturbances
Electric motor drive
Electric motors
Mathematical analysis
Observers
PI observer
Proportional integral
Robust control
Robustness
Singular perturbation
Torque
Transfer functions
Uncertain systems
Uncertainty
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Summary:This paper addresses the problem of preserving the nominal performance of a conventional cascade controller for electric motor drives in the presence of parameter uncertainties and external disturbances. Practical reduced-order proportional-integral (PI) observers are incorporated with predesigned PI controllers in order to enhance the robust performance of current and speed controllers. A unified analysis based on the singular perturbation theory is presented to confirm the desired approximation of the augmented system with the PI observers to the nominal closed-loop system. The validity of the proposed dual observer-based control scheme is tested via computer simulations and experiments using a dc motor system. Both results verify that the proposed controller can be used effectively to recover the nominal performance of the conventional cascade scheme for electric motor drives.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2014.2374571