Improved Nonlinear Speed Control of PM Synchronous Motor Using Time Delay Control

  • Baik, In-Cheol (Dept. of Computer Application Control, Kyonggi Institute of Technology)
  • Published : 2003.07.01


An improved nonlinear speed control of a permanent magnet synchronous motor (PMSM) is presented A quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived Using this model, to overcome the drawbacks of conventional nonlinear control scheme, the improved nonlinear control scheme which employs time delay control (TDC) scheme is proposed. To show the validity of the proposed control scheme, simulation studies are carried out and compared with the conventional control scheme.


  1. G. Champenois, P. Mollard, and J.P. Rognon, 'Synchronous Servo Drive: a Special Application', IEEE-IAS Conf. Rec., pp. 182-189, 1986
  2. M. Fadel and B. De Fornel, 'Control laws of a synchronous machine fed by a PWM voltage source inverter', EPE, Aachen, RFA, Oct. 1989
  3. W. Leonhard, Control of Electrical Drives, Springer Verlag, 1985
  4. T. Rekioua, F. Meibody Tabar, J.P. Caron, and R. Le Doeuff, 'Study and Comparison of Two Different Methods of Current Control of a Permanent Magnet Synchronous Motor', Conf. Rec. IMACS-TCI, Nancy, France, Vol. 1, pp. 157-163, 1990
  5. B. Le Pioufle and J.P. Louis, 'Influence of the Dynamics of the Mechanical Speed of a Synchronous Servomotor on its Torque Regulation, Proposal of a Robust Solution', EPE, Florence, Vol. 3, pp. 412-417, 1991
  6. J.J. Carroll Jr. and D.M. Dawson, 'Integrator Backstepping Techniques for the Tracking Control of Permanent Magnet Brush DC Motors', IEEE Trans. IA, Vol. 31, No. 2, pp. 248-255, Mar./April, 1995
  7. B. Le Pioufle, 'Comparison of Speed Nonlinear Control Strategies for the Synchronous Servomotor', Electric Machines and Power Systems, Vol. 21, pp. 151-169, Taylor & Francis, 1993
  8. A. Isidori, Nonlinear Control Cystems : an Introduction, Springer-Verlag, 1985
  9. I.C, Baik, K.H. Kim, and M.J. Youn, 'Robust Nonlinear Speed Control of PM Synchronous Motor Using Adaptive and Sliding Mode Control Techniques', IEE Proc., EPA, Vol. 145, No. 4, pp. 369-376, Jul. 1998
  10. I.C. Baik, K.H. Kim, and M.J. Youn, 'Robust Nonlinear Speed Control of PM Synchronous Motor Using Boundary Layer Integral Sliding Mode Control Technique', IEEE Trans. CST, Vol. 8, No. 1, pp. 47-54, Jan. 2000
  11. I.J. Nagrath, M. Gopal, Control systems engineering, John Wiley & Sons, 1982
  12. K.Y. Toumi and O. Ito, 'A time delay controller for systems with unknown dynamics', ASME, J. of Dynamic Systems, Measurement, and Control, Vol. 112. pp. 133-142, 1990
  13. P.H. Chang, D.S. Kim, and K.C. Park. 'Robust Force/ Position Control of a Robot Manipulator Using Time-delay Control', Control Engineering Practice, Vol. 3, No. 9, pp. 1255-1264, 1995
  14. P.H. Chang, Nonlinear Control System Design: Course Note, KAIST, 1997