Design of robust controllers for PMSM drive fed with PWM inverter with inertia load variation

A detailed design and comparison of PID and State Space Controller (SSC) for permanent magnet synchronous motor (PMSM) loaded with elastic joint to a mass are presented. The SSC controller consists of a LQ controller and a proportional feedback compensation of the load torque estimated by a reduced disturbance observer. Step by step analyse for PID and LQ tuning is conduced for PMSM drive and varying load. A large load inertia variation is taken into account to define the strategies used to calculate the optimum PID, LQ and reduced observer parameters that ensure the drive system stability and performances. Simulations results verify and compare the robustness of the controllers. Complexity of synthesis and performances obtained are discussed on a PMSM drive fed with a PWM voltage inverter controlled in current.