On-line parameter identification and self-tuning PI controller for permanent magnet synchronous motor

Weigang Zhou, Qiang Hua, Yunchang Yao, Lingyu Kong, Anhuan Xie, Dan Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

The motion performance of the robot largely depends on the PMSM control performance for the electrically driven robot. During the long-term operation of the robot, the motor temperature will rise. At this time, the motor resistance and flux linkage will change with the increase of temperature. When the robot runs, the working current of the motor increases sharply, and the flux linkage and inductance of the motor will be affected by magnetic circuit saturation. The change of motor parameters lead the motor control system performance to be worse. It is necessary to identify the motor parameters on-line to achieve high-performance control in the process of robot motion. A method based on a combination of forgetting factor recursive least squares algorithm (FFRLS) and model reference adaptive system (MRAS) is proposed in this paper, which can accurately identify the motor parameters of robot on-line, and improve the identification speed. The PI controller parameters of the motor's current loop are self-tuning on-line to realize the high-performance based on the identification values of the motor resistance and inductance.

Original languageEnglish
Title of host publicationProceedings - 2022 2nd International Conference on Robotics and Control Engineering, RobCE 2022
EditorsDan Zhang, Aiguo Song, Maki Habib, Giuseppe Carbone
PublisherAssociation for Computing Machinery
Pages26-31
Number of pages6
ISBN (Electronic)9781450395854
DOIs
Publication statusPublished - 25 Mar 2022
Externally publishedYes
Event2nd International Conference on Robotics and Control Engineering, RobCE 2022 - Virtual, Online, China
Duration: 25 Mar 2022 → …

Publication series

NameACM International Conference Proceeding Series

Conference

Conference2nd International Conference on Robotics and Control Engineering, RobCE 2022
Country/TerritoryChina
CityVirtual, Online
Period25/03/22 → …

Keywords

  • forgetting factor recursive least squares
  • model reference adaptive system
  • parameter identification
  • PMSM
  • self-tuning PI controller

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

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