ABSTRACT
This chapter applies the adaptive integrator backstepping tools to the design of a position tracking controller for the switched reluctance (SR) motor driving a mechanical load. Since there is no standard rotor fixed frame transformation for the SR motor, a closed form, differentiable commutation strategy must be fused into the backstepping procedure. The motor is viewed as a torque source and thus a desired torque signal is designed to ensure that the load follows the desired position trajectory. Since the developed motor torque is a function of rotor position and the electrical winding currents, a commutation strategy is utilized to restate the desired torque signal as a set of desired current trajectories. The voltage control inputs are then formulated to force the electrical winding currents to follow the desired current trajectories. Based on exact knowledge of the electromechanical system model and full state feedback, the load position tracking controller is designed for the open-loop dynamics.
