Rotor Position Tracking Control for Low Speed Operation of Direct-Drive PMSM Servo System

• Published in: IEEE/ASME transactions on mechatronics Vol. 26; no. 2; pp. 1129 - 1139
• Main Authors: Bu, Feifei, Xuan, Fuqiang, Yang, Zhida, Gao, Yu, Pan, Zihao, Degano, Michele, Gerada, Chris
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Control stability; Control systems design; Controllers; Design parameters; Direct-drive servo system; Disturbances; IEEE transactions; Low speed; Mechatronics; permanent magnet synchronous machine (PMSM); Permanent magnets; rotor position tracking control (RPTC); Rotors; Servomotors; Synchronous motors; Torque; torque disturbance; Tracking control; Trajectory; Velocity control
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2020.3019039

In this article, a rotor position tracking control (RPTC) strategy is proposed to effectively reduce the speed fluctuation for a direct-drive permanent magnet synchronous motor servo system operating at a low speed with different torque disturbances. In this article, considering the derivative relationship between the rotor position and speed, a speed command is converted to a real-time rotor position trajectory, and then a position-current two-loop control with the RPTC controller is proposed based on the internal model method to smoothly track the rotor position. In addition, the parameter design of the RPTC controller from the perspectives of robust stability and antidisturbance capability is investigated as well. The comparative simulation and experimental results demonstrate that, at a low speed, the proposed RPTC strategy has a good speed performance for both periodic and nonperiodic torque disturbances. Moreover, it enjoys a simple implementation for not requiring the precise speed feedback and specific torque disturbance information.