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An observer-based IT2 TSK FLS compensation controller for PMSM servo systems: design and evaluation

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Abstract

It is hard to achieve precise displacement for the permanent-magnet synchronous motor (PMSM) servo systems due to the nonlinear friction and time-varying end-load. This paper proposes an observer-based compensation control strategy to cope with the above issues. First, an adaptive interval type-2 Takagi-Sugeno-Kang (TSK) fuzzy logic system is adopted to estimate the inherent friction. By utilizing the tracking and modeling error, the composite adaptive updating law is constructed to improve the tracking performance. Then, the residual reconstruction errors and the bounded end-load are estimated and compensated by the designed disturbance observer. Estimation of friction and disturbance observer, as compensation terms, are employed in traditional cascade control. Finally, the proposed controller guarantees the tracking error is uniformly ultimately bounded based on Lyapunov theory. Simulations and experiments are presented to verify the effectiveness and superiority of the proposed controller.

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Abbreviations

PMSM:

Permanent-magnet synchronous motor

TSK:

Takagi-Sugeno-Kang

FLS:

Fuzzy logic system

T1 FSs:

Type-1 fuzzy sets

T1 FLSs:

Type-1 fuzzy logic systems

T2 FSs:

Type-2 fuzzy logic systems

T2 FLSs:

Type-2 fuzzy logic systems

IT2 FLS:

Interval type-2 fuzzy logic system

PID:

Proportion integration differentiation

UUB:

Ultimately uniformly bounded

CAIT2:

Composite adaptive interval type-2

MF:

Membership function

GT2 FS:

General type-2 fuzzy set

FOU:

Footprint of uncertainty

LMF:

Lower membership function

UMF:

Upper membership function

KM:

Karnik–Mendel

FBFs:

Fuzzy basis functions

RMSE:

Root-mean-square error

AVG:

Average absolute value

MAX:

Maximum absolute value

FOPI:

Fractional order proportion integration

MSMC:

Modified sliding mode controller

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Funding

Joint Project of Nature Science Foundation of Liaoning Province of China, Grant No. 2021-KF-11-02.

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, Liaoning, China

    Yan Liu, Yongfu Wang & Yunlong Wang

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  1. Yan Liu
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  2. Yongfu Wang
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  3. Yunlong Wang
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Correspondence to Yongfu Wang.

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The authors declared that they have no conflicts of interest in this work. We declare that we do not have any commercial or associative interest that represents a conflict of interest in connection with the work submitted.

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Liu, Y., Wang, Y. & Wang, Y. An observer-based IT2 TSK FLS compensation controller for PMSM servo systems: design and evaluation. Neural Comput & Applic 34, 10949–10969 (2022). https://doi.org/10.1007/s00521-022-07020-y

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