Revista Eletrônica de Potência (Brazilian Journal of Power Electronics)

Palavras Chaves: Controle Robusto, Desigualdades Matriciais Lineares, Incertezas paramétricas

Resumo
Este artigo trata do projeto e da validação experimental de controladores robustos aplicados à regulação de velocidade de motores síncronos de ímãs permanentes. O motor é descrito por um modelo politópico, considerando que os parâmetros elétricos e mecânicos podem variar dentro de intervalos limitados. As equações dinâmicas do motor para as correntes id, iq e para a velocidade wm são discretizadas incluindo o atraso de implementação digital e uma ação integral sobre o erro de rastreamento da referência. Desigualdades matriciais lineares são utilizadas para obter rapidamente, de forma offline, ganhos de controle por realimentação de estados para as duas malhas de controle de corrente e para a malha de velocidade, em uma estratégia de projeto que só demanda do projetista a escolha de dois parâmetros, limitados entre zero e um, que estabelecem uma região para alocação dos polos de malha fechada. Resultados experimentais para um motor comercial de 11 kW ilustram um bom rastreamento de correntes e uma boa regulação de velocidade. Estudos comparativos mostram desempenho dinâmico superior ao de controladores PIs da literatura, sem demandar aumento no número de sensores, permitindo também a redução do acoplamento cruzado entre os eixos direto e em quadratura.

Title: Robust Control by Means of LMIs Applied to Permanent Magnet Synchronous Motors with Uncertain Parameters

Keywords: Linear Matrix Inequalities, Permanent Magnet Synchronous Motor, Robust Control, Uncertain Parameter

Abstract
This article deals with the design and experimental validation of robust controllers applied to the speed regulation of permanent magnet synchronous motors. The motor is described by a polytopic model, considering that the electrical and mechanical parameters can vary within limited intervals. The dynamic motor equations for the id and iq currents as well as for the speed wm are discretized including the digital implementation delay and an integral action on the reference tracking error. Linear matrix inequalities are used offline to quickly obtain state feedback control gains, for the two current control loops and for the speed loop, in a design strategy that only requires the designer to choose two parameters, limited between zero and one, that establish a region for closed-loop pole location. Experimental results for an 11 kW commercial motor illustrate good current tracking and speed regulation. Comparative studies show a dynamic performance superior to that of PI controllers in literature, without requiring an increased number of sensors, also allowing the reduction of the cross coupling effects between the direct and quadrature axes.

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