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

Abstract

In this paper, a rotor position tracking control (RPTC) strategy is proposed to effectively reduce the speed fluctuation for a direct-drive permanent magnet synchronous motor (DD-PMSM) servo system operating at low speed with different torque disturbances. In this strategy, 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 RPTC controller from the perspectives of robust stability and anti-disturbance capability is investigated as well. Comparative simulation and experimental results demonstrate that, at low speed, the proposed RPTC strategy has a good speed performance for both periodic and non-periodic torque disturbances. Moreover, it enjoys simple implementation for not requiring the precise speed feedback and specific torque disturbance information