Robust Speed Tracking of Networked PMSM Servo Systems with Uncertain Feedback Delay and Load Torque Disturbance

Abstract

This paper considers a class of networked Permanent Magnet Synchronous Motors (PMSMs), whose feedback loops are closed over a shared data network. Although the installation and maintenance cost of the networked PMSM system can be lowered by replacing the conventional point-to-point feedback cables with a network, the network packet dropouts and transmission delay may degrade the system’s performance and even destabilize it. The load torque disturbance is another source to deteriorate the PMSM system’s performance. To investigate the effects of the data network and the torque disturbance on the speed tracking of a PMSM system is one major task of this paper. In particular, we derive a sufficient stability condition for this system in an LMI (linear matrix inequality) form and provides a way to bound the system’sH∞performance. Moreover, we adopt an iterative LMI method to design the speed controller of the PMSM system, which can robustly guarantee stability and performance against the network-induced delays, packet dropouts, and the torque disturbance. Simulations are done to verify the effectiveness of the obtained results.