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Implementation of AC servo controllers employing frequency-domain optimization techniques

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2 Author(s)
Tian-Hua Liu ; Dept. of Electr. Eng., Nat. Taiwan Inst. of Technol., Taipei, Taiwan ; Chang-Huan Liu

The design and implementation of a permanent magnet synchronous motor drive based on H2 and H optimal control theory are presented. A mathematical model of the drive is introduced. Based on appropriate assumptions, the model is reduced to a second-order, linear time-invariant system so that the H2 and H optimization techniques are applicable. H2 and H controllers are derived on the basis of the simplified model. A stability analysis is conducted, and stability regions based on controller tuning parameters and sampling periods are constructed. The relationship between closed-loop bandwidth and sampling period due to discretization effect is investigated. Implementation of the controllers and experimental results are described. A multiprocessor-based, fully digital control system is used to realize and experimentally verify the H2 and H control algorithms. Controller performance is evaluated in terms of speed and position responses, and closed-loop and sensitivity frequency responses

Published in:

IEEE Transactions on Industrial Electronics  (Volume:37 ,  Issue: 4 )