Near Time-Optimal Position Control of an Actuator with Permanent Magnet Synchronous Motor

摘要

The paper presents design of a near time-optimal position control of an actuator exploiting permanent magnet synchronous motor. The principles of time-optimal control and vector control are combined to form a novel control algorithm for achieving a nearly time-optimal position control of the actuator. Control chattering and oscillations about the phase-plane origin for original time-optimal control law are eliminated by the modification of the control algorithm. The control law is derived for electrical torque of the actuator, therefore torque component of the stator current is determined to comply with proposed near time-optimal control law. Presented simulation results show good correspondence with theoretical predictions.