A robust performance enhancement of primary H-infinity controller based on auto-selection of adjustable fractional weights: Application on a permanent magnet synchronous motor

摘要

This paper proposes a new robustification strategy of a primary H-infinity controller based on a systematic selection of adequate fractional weights. Its robust performance (RP) margin is well enhanced with respect to unstructured multiplicative uncertainties presented in linear feedback systems. The proposed robustification strategy provides a robustified H-infinity controller when following proposed hierarchical control is well respected. First, the primary H infinity controller is synthesized from solving a weighted-mixed sensitivity H-infinity problem using initial integer weights. Thus, an initial RP margin is obtained. Second, an automatic selection of adjustable fractional weights is performed by the particle swarm optimization algorithm, in which some proposed tuning rules are accordingly well satisfied. Third, frequency response data of these weights are computed and then fitted by corresponding approximated integer weights using a frequency identification technique. Finally, these weights reformulate a new weighted-mixed sensitivity problem. The optimal solution to this problem updates the previous initial RP margin. These last three steps are repeated as the updated RP margin is diminished. Otherwise, the proposed hierarchical control is achieved by selecting the best adjustable fractional weights, providing, therefore, the best approximated integer weights and leading, therefore, to the robustified H-infinity controller. In order to confirm the effectiveness of our proposed hierarchical control, primary and robustified H-infinity controllers are applied on a permanent magnet synchronous motor where its actual behavior is modeled by an unstructured multiplicative uncertain model. The results obtained are compared in frequency domains using the singular value plots of their sensitivity functions. Otherwise, the same results are compared in time domains using the Powersim (R) software.