The Robust Smooth Tracking Control For The Permanent Magnet Synchronous Motor

With the unceasing emergence of the high-power switch devices, digital specialintegrated circuit and the in-depth improvement of the control theory, the AC servocontrol systems are developing extensively and rapidly, where the research of thePermanent Magnet Synchronous Motor (PMSM) and it's driving theory andapplication has become a focus of the research of the AC velocity adjusting system. In general, the servo control methods of PMSM are divided into two categoriesof the linear PID control and the nonlinear control. Though the arithmetic of theformer is simple enough to implement, the higher satisfied dynamic precision can't beacquired. In present, the worldwide researchers successively engage in the research ofthe nonlinear servo control for PMSM and have obtained the highly effective resultswith the perfectly dynamic precision and the strong robustness of the system. But thearithmetic of the nonlinear control is commonly too complex to realize in practice. Anew kind of servo control method for PMSM based on a two-order nonlinear smoothtrajectory filter is presented in this paper and this merged method of the linear and thenonlinear control represent the advantages of the simple arithmetic, the easyimplementation and the highly dynamic precision. In this paper, the discrete nonlinear controller is designed by discussing thetheory of the two-order nonlinear smooth trajectory filter with the outputs suitable forthe feed-forward controlling which guarantees minimum time response and smoothtrajectory tracking. The motion system can be equivalent to the two-order systemunder the linear closed loop current control in view of the (d,q) mathematic modelfor PMSM so that the nonlinear smooth trajectory tracking strategy can be appliedinto the position servo control. Finally, the validity and effectiveness of this controlmethod are verified through the simulations and the practical DSP experiments.