Robust Backstepping Tracking Controller for Low-Speed PMSM Positioning System: Design, Analysis, and Implementation


This paper is anxious with the design and implementation of a strong position backstepping tracking controller for a permanent magnet synchronous motor (PMSM). The knowledge on the angular position and velocity, provided by a classical resolver-to-digital converter, additionally employs a part lock loop (PLL) circuit. A backstepping management law is designed from the input-output linearization of the PMSM model, written in d-q coordinates. This controller is adapted via the online estimation of the unknown load torque and friction effects. A linear extended state observer is devised for this purpose, so making certain high closed-loop performance of the motor trajectory tracking task. An input-state stability analysis of the whole system is additionally provided. Cosimulation via the MATLAB/Simulink-PSIM package, as well as realistic measurement disturbances, is employed to analyze the soundness and accuracy of the proposed control algorithm. Experimental results are provided.

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