Smooth-trajectory servo control and implementation for permanent-magnet synchronous motor
永磁同步电动机的平滑跟踪伺服控制及实现

For the minimum time response and smooth trajectory tracking in position-servo control of permanent-magnet synchronous motor,an improved second-order discrete nonlinear smooth trajectory filter,of which outputs are applied to feedforward control,is introduced.Electromechanical motion system can be equivalent to second-order system under linear closed-loop-current control in view of the (d,q) mathematical model for permanent-magnet synchronous motor,so that nonlinear smooth trajectory filter can generate predictive signals for current-loop with a reduced-order disturbance observer designed to guarantee robustness of the system.Finally,the proposed control scheme is implemented by using a digital signal processor(TMS320LF2407A) and the effectiveness is verified through the experiments and simulations with proportional-integral-differential(PID) control.