A novel adaptive current regulator for permanent magnet synchronous motor based on modified current dynamics

A new RMRAC (Robust Model Reference Adaptive Control) scheme for the PMSM (Permanent Magnet Synchronous Motor) current regulation is proposed in a synchronous frame which is completely free from the parameter's uncertainty. A current regulator of PMSM is the inner most loop of electromechanical driving systems and plays a foundation role in the control hierarchy. When the PMSM runs in high speed, the cross-coupling terms must be compensated precisely for large system BW. In the proposed RMRAC, the input signal is composed of a calculated voltage defined by MRAC law and an output of the disturbance compensator. The gains of feed forward and feedback controller are estimated by the proposed modified gradient method, where the system disturbances are assumed as filtered current regulation errors. After the compensation of the system disturbance from error information, the corresponding voltage is fed forward to control input to compensate for real disturbances. The proposed method robustly compensates the system disturbance and cross-coupling term. It also shows a good real-time performance due to the simplicity of control structure. Through real experiments, the efficiency of the proposed method is verified.