The complete control design for a permanent magnet synchronous (PMAC) motor, derived from the input-output linearization, is presented in the paper. The motor model, written in the rotor's d-q coordinates, is nonlinear with respect to the state variables and linear in the control. The input-output linearization makes it possible to write the motor's model in Brunovski decoupled canonical form which makes the synthesis of linear controllers possible. The proposed control structure allows perfect tracking of smooth references in the case of nominal parameters. In relation to the bounded parameter perturbations, the robustness of the feedback system is improved by introducing an additional compensation signal which assures the stability of the perturbed system in Lyapunov's sense. The influence of parameter variations that prevents exact compensation of the control plant nonlinearities was analyzed for the PMAC motor. A description of the laboratory setup is given, and the experimental results of the proposed PMAC servo drive control are presented.
['B. Grcar', 'P. Cafuta', 'M. Znidaric', 'F. Gausch']
Nonlinear control of synchronous servo drive