Improvement of PMSM Sensorless Control Based on Synergetic and Sliding Mode Controllers Using a Reinforcement Learning Deep Deterministic Policy Gradient Agent

Abstract

The field-oriented control (FOC) strategy of a permanent magnet synchronous motor (PMSM) in a simplified form is based on PI-type controllers. In addition to their low complexity (an advantage for real-time implementation), these controllers also provide limited performance due to the nonlinear character of the description equations of the PMSM model under the usual conditions of a relatively wide variation in the load torque and the high dynamics of the PMSM speed reference. Moreover, a number of significant improvements in the performance of PMSM control systems, also based on the FOC control strategy, are obtained if the controller of the speed control loop uses sliding mode control (SMC), and if the controllers for the inner control loops of id and iq currents are of the synergetic type. Furthermore, using such a control structure, very good performance of the PMSM control system is also obtained under conditions of parametric uncertainties and significant variations in the combined rotor-load moment of inertia and the load resistance. To improve the performance of the PMSM control system without using controllers having a more complicated mathematical description, the advantages provided by reinforcement learning (RL) for process control can also be used. This technique does not require the exact knowledge of the mathematical model of the controlled system or the type of uncertainties. The improvement in the performance of the PMSM control system based on the FOC-type strategy, both when using simple PI-type controllers or in the case of complex SMC or synergetic-type controllers, is achieved using the RL based on the Deep Deterministic Policy Gradient (DDPG). This improvement is obtained by using the correction signals provided by a trained reinforcement learning agent, which is added to the control signals ud, uq, and iqref. A speed observer is also implemented for estimating the PMSM rotor speed. The PMSM control structures are presented using the FOC-type strategy, both in the case of simple PI-type controllers and complex SMC or synergetic-type controllers, and numerical simulations performed in the MATLAB/Simulink environment show the improvements in the performance of the PMSM control system, even under conditions of parametric uncertainties, by using the RL-DDPG.