A Data-Driven Adaptive Control for Multi-Input Multi-Output IPMSM

The coupling between three-phase current and speed, electromagnetic torque, along with the uncertainties in interior permanent magnet synchronous motor, poses a challenge to controller design. To address this issue, this paper applies a data-driven adaptive control method, where two types of controllers are designed to track the speed and electromagnetic torque by driving the d-axis and q-axis currents transformed from three-phase current. Considering the motor in the scheme of multi-input multi-output(MIMO) systems, the two controllers are achieved by utilizing the controller-based compact form and full form dynamic linearization methods. The coupling relation is embedded in the controller parameters obtained by these methods and can be adaptively tuned using only the motor’s input-output data. The simulation results show that both of the controllers achieve over 95% tracking accuracy of speed, while the full form dynamic linearization controller achieves over 90% tracking accuracy of electromagnetic torque.