Abstract
This paper presents a robust speed controller for field oriented controlled interior permanent magnet synchronous motor (IPMSM) drives. The proposed controller is designed using integral variable structure control (IVSC) combined with linear quadratic regulator (LQR). The LQR scheme is used to decide the optimal feedback gain to shape the system dynamics by tuning the IVSC switching plane to guarantee the robustness of the control algorithm. The complete drive is implemented in real-time using digital signal processor (DSP) control board DS1102. The tracking properties and robustness of the proposed scheme are examined through both simulations and experimental work. It guarantees accurate control performance in the presence of parameter variations, step speed change and load disturbances. The performance of IPMSM drive system with a conventional proportional-integral (PI) controller is presented in comparison with the proposed controller. The results show a significant improvement in both the transient and steady state responses over the conventional PI controller.