Modeling and Adaptive Nonlinear Control of Electric Motors

Farshad Khorrami, Prashanth Krishnamurthy, and Hemant Melkote
Control/Robotics Research Laboratory (CRRL)
Department of Electrical & Computer Engineering
Polytechnic Univeristy, Brooklyn, NY 11201

523 pages, 184 Figures
ISBN# 3-540-00936-1

Springer Verlag
Tiergartenstrasse 17
69121 Heidelberg, Germany

Publication Date: May 20, 2003

In this book, modeling and control design of electric motors, namely step motors, brushless DC motors, and induction motors, are considered. The book focuses on recent advances on feedback control designs for various types of electric motors, with a slight emphasis on stepper motors. For this purpose, the authors explore modeling of these devices to the extent needed to provide a high-performance controller but at the same time amenable to model-based nonlinear designs. The control designs focus particularly on recent robust adaptive nonlinear controllers to attain high performance. It is shown that the adaptive robust nonlinear controller on its own achieves a reasonably good performance without requiring the exact knowledge of motor parameters. While carefully tuned classical controllers do often achieve required performance in many applications, it is hoped that the advocated robust and adaptive designs will lead to standard universal controllers with minimal need for fine tuning of control parameters.

Table of Contents

Chapter 1. Introduction
Chapter 2. Dual-Axis Linear Stepper (Sawyer) Motors
Chapter 3. Modeling of Stepper Motors
Chapter 4. Stepping
Chapter 5. Feedback Linearization and Application to Electric Motors
Chapter 6. Robust Adaptive Control of a Class of Nonlinear Systems
Chapter 7. Robust Adaptive Control of Stepper Motors
Chapter 8. Current Control of Stepper Motors Using Position Measurements Only
Chapter 9. Voltage Control of Stepper Motors Using Position and Velocity Measurements
Chapter 10. Voltage Control of PM Stepper Motors Using Position Measurement Only
Chapter 11. Brushless DC Motors
Chapter 12. Induction Motor: Modeling and Control
Chapter 13. Adaptive Control of Induction Motors
Chapter 14. Passivity-Based Control of Electric Motors
Chapter 15. Torque Ripple Reduction for Step Motors
Chapter 16. Friction Compensation in Servo-Drives

Appendix A. Fundamentals of AC Machines
Appendix B. Floquet Frame: Extensions to DQ Transformation
Appendix C. Torque Maximization with Current and Voltage Constraints (Field Weakening)
Appendix D. Stable System Inversion
Appendix E. Lyapunov Stability Theorems
Appendix F. Backstepping
Appendix G. Input-to-State Stability and Nonlinear Small Gain