The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Model Parameter-free Velocity Control of Permanent Magnet Synchronous Motor based on Koopman Operator

모델 파라미터 없는 쿠프만 연산자 기반의 영구자석 동기전동기의 속도제어

  • Kim, Junsik (Dep. of Electrical and Electronic Engineering, Hanyang University) ;
  • Woo, Heejin (Dep. of Electrical and Electronic Engineering, Hanyang University) ;
  • Choi, Youngjin (Dep. of Electrical and Electronic Engineering, Hanyang University)
  • Received : 2022.03.06
  • Accepted : 2022.04.04
  • Published : 2022.08.31
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Abstract

This paper proposes a velocity control method for a permanent magnet synchronous motor (PMSM) based on the Koopman operator that does not require model parameter information except for pole-pair of the motor and external load. First, the Koopman operator is derived using observable functions and observation data. Then, the desired q-axis current corresponding to the desired velocity is generated using the relationship between the continuous-time Koopman operator and the dynamics of PMSM. Also, the dynamic equation of PMSM is expressed as a linear form in observable space using the discrete-time Koopman operator. Finally, it is applied to the linear quadratic regulator (LQR) to derive the final form of control input. To verify the proposed method, the conventional cascade PI controller and the LQR controller configured with the existing technique are compared with the proposed method in the viewpoint of q-axis current generation and velocity tracking performance in an environment with noise and external load.

Keywords

Acknowledgement

This work was supported in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (2019R1A2C1088375), and in part by the Technology Innovation Program funded by the Korean Ministry of Trade, industry and Energy, (20017345), Republic of Korea

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