Speed control of a permanent magnet synchronous motor actuated by a three-phase multi level inverter

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Rosalino Mayoral Lagunez https://orcid.org/0000-0003-3420-7416
José Antonio Juárez Abad https://orcid.org/0000-0003-0279-9381
Beatriz Angélica Aguilar López https://orcid.org/0000-0002-2769-4992
Jesús Linares Flores https://orcid.org/0000-0002-5723-4786
Jorge Luis Barahona Avalos https://orcid.org/0000-0002-5502-6692


This paper presents the design and FPGA embedded implementation of robust controller design to speed tracking problem for a Permanent Magnet Synchronous Motor (PMSM). Then, a linear controller based on the exact static error dynamics passive output feedback (ESEDPOF) is proposed, where the uncertainty estimation is taken into account. The technique of passivity requires knowing the load torque, this is estimated with a traditional reduced-order observer. PMSM is driven by a five levels Three-Phase Cascaded Cell Multi-Level Inverter (3Φ -CCMLI). The medium-scale field-programmable gate array (FPGA) Spartan-6 XC6SLX9 is used for implementing the ESEDPOF controller, the reduced-order observer, and the multilevel pulse width modulator. The parallel processing provided by these devices allowed to obtain a sampling time of 10us. Simulation and Experimental validation shows an excellent dynamical performance.
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