Controle Robusto por Meio de LMIs Aplicado a Motores Síncronos de Ímãs Permanentes com Parâmetros Incertos
DOI:
https://doi.org/10.18618/REP.2021.1.0066Keywords:
Controle Robusto, Desigualdades Matriciais Lineares, Incertezas paramétricasAbstract
Este artigo trata do projeto e da validação experimental de controladores robustos aplicados à regulação de velocidade de motores síncronos de ímãs permanentes. O motor é descrito por um modelo politópico, considerando que os parâmetros elétricos e mecânicos podem variar dentro de intervalos limitados. As equações dinâmicas do motor para as correntes id, iq e para a velocidade wm são discretizadas incluindo o atraso de implementação digital e uma ação integral sobre o erro de rastreamento da referência. Desigualdades matriciais lineares são utilizadas para obter rapidamente, de forma offline, ganhos de controle por realimentação de estados para as duas malhas de controle de corrente e para a malha de velocidade, em uma estratégia de projeto que só demanda do projetista a escolha de dois parâmetros, limitados entre zero e um, que estabelecem uma região para alocação dos polos de malha fechada. Resultados experimentais para um motor comercial de 11 kW ilustram um bom rastreamento de correntes e uma boa regulação de velocidade. Estudos comparativos mostram desempenho dinâmico superior ao de controladores PIs da literatura, sem demandar aumento no número de sensores, permitindo também a redução do acoplamento cruzado entre os eixos direto e em quadratura.
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