Adaptive control of variable reluctance motors: a spline functionapproach
Bortoff, S.A.; Kohan, R.R.; Milman, R.
Industrial Electronics, IEEE Transactions on
Volume 45, Issue 3, Jun 1998 Page(s):433 - 444
Digital Object Identifier 10.1109/41.679001
Summary:This paper considers nonlinear adaptive control of a variable
reluctance motor (VRM) in a low-velocity high-torque mode of operation.
A simple dynamic model for the relationship among electric torque, rotor
angular position, and phase currents is proposed. The model incorporates
spline functions and a set of “Fourier” sinusoids and
captures several experimentally verified VRM characteristics, including
flux saturation effects. Based on this model, an adaptive controller is
derived using the certainty equivalence principle. The controller
provides asymptotic tracking of a desired rotor position trajectory.
So-called “torque-sharing functions” are employed to smooth
the commutation among phases and to increase the peak torque available
from the motor, when compared to “hard” commutation that
energizes only one phase at a time. Experimental results from a
laboratory VRM provide motivation for the model and illustrate the
controller's design and trajectory tracking performance
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