| Abstract |
In this paper a novel sliding-mode control algorithm, based on differential geometry feedback linearization control theory, is proposed to decouple the control of rotor flux magnitude and motor torque. The advantages of this method are: 1) The generated torque becomes a linear output with respect to the control states 2) The rotor flux and the generated torque can be accurately controlled 3) Robustness with respect to matched and mismatched uncertainties is obtained. Additionally, a varying continuous control term is proposed, which eliminates chattering. The control strategy is based on all motor states being available. In practice the rotor fluxes are not usually measurable, and a robust sliding-mode observer is derived to estimate the rotor flux. The observer is designed to possess invariant dynamic modes which can be assigned independently to achieve the desired performance. Experimental results are presented to confirm the characteristics of the proposed control law and rotor flux observer. |
