Adaptive controller design for a PMSM knitting machine control system

This paper proposes an adaptive backstepping controller design for a position control system of permanent-magnet synchronous motors. The proposed system has been successfully used in a knitting machine with satisfactory performance, including fast transient responses, good steady-state responses, and good tracking ability. Based on properly selecting a Lyapunov function, an adaptive backstepping position controller can be systematically developed. In addition, a notch filter is used in the current-loop to reduce the limit cycles of the motor. The control algorithm is implemented by using a Renesas digital signal processor. As a result, the hardware is very simple.