Nonlinear speed tracking control of PMSM servo system: A global robust output regulation approach

摘要

It is well known that load torque disturbance and parametric uncertainties commonly exist in permanent magnet synchronous motor (PMSM) and may reduce the tracking accuracy especially when the reference trajectory is time-varying. Thus it is challenging to achieve precise speed tracking control with both load torque disturbance and parametric uncertainties being taken into account. This task can be formulated as a global robust output regulation problem (GRORP) of multi-input, multi-output nonlinear system. In this paper, a systematic internal model control (IMC) method is proposed to solve the GRORP. By constructing a suitable internal model, we convert the GRORP into a global stabilization problem of an augmented system, and then design a stabilization controller to globally stabilize the augmented system. To validate the advantages of the proposed IMC method, comparative studies with conventional proportional-integral speed control method and linear active disturbance rejection control method are conducted via simulations and experiments. It is worthy of mentioning that our method can not only achieve high precision speed tracking performance under time-varying reference speed and/or load torque disturbance, but also allow all the motor parameters to be uncertain.