Research on Predictive Speed Control Scheme for Surface-Mounted Permanent Magnet Servo Systems
Abstract
:1. Introduction
2. Deadbeat Predictive Speed Control
2.1. DPSC Controller Design
2.2. Determination of Control Parameters
3. Control Performance Analysis
3.1. Comparison of Control Performance
3.2. Parameter Mismatch Impact
4. ESMO Torque Observer
4.1. The Observer Design
4.2. Principle of System Control
5. Experimental Research
5.1. Observer Performance Analysis
5.2. Dynamic Response Analysis
5.3. Disturbance Rejection Performance Analysis
6. Conclusions
- The inertia error and torque error have corresponding effects on the deadbeat predictive speed control. Specifically, the current error of the predictive control output increases with the increase of the inertia error and torque error, but is more significantly influenced by torque error, being more sensitive to it.
- The designed ESMO observer can rapidly and accurately observe the load torque, with a fast dynamic response to track load changes and small steady-state error. The observation accuracy is 94.37%, which can provide disturbance compensation for speed control.
- The DPSC control method with an ESMO observer can effectively improve the system’s dynamic response and disturbance rejection performance. Compared to conventional PI control, the speed step response time is reduced from 0.675 s to 0.650 s, and when subjected to a load disturbance of 0.4 Nm, the speed fluctuation and settling time decrease from 9 rpm and 1.7 s to 6 rpm and 0.5 s, respectively.
- The method proposed in this article has significant theoretical significance for improving the control performance of an SPMSM speed system and can be applied to control scenarios with fast speed response requirements, such as industrial robots, CNC machine tools, and electric vehicles.
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Parameters | Value | Parameters | Value |
---|---|---|---|
Rated power (kW) | 3 | Stator inductance (mH) | 23.1 |
Rated torque (Nm) | 5 | Stator resistance (Ω) | 1.386 |
Rated speed (rpm) | 1500 | Rotational inertia (kg·m2) | 2.34 × 10−3 |
Rated current (A) | 5 | Friction coefficient (N·s/m) | 3.01 × 10−3 |
Number of pole pairs | 2 |
Control Method | Settling Time | Fluctuate Error |
---|---|---|
PI | 0.675 s | 4 rpm |
PI + ESMO | 0.675 s | 3 rpm |
DPSC + ESMO | 0.65 s | 2 rpm |
Control Method | Overshoot | Settling Time |
---|---|---|
PI | 9 rpm | 1.7 s |
PI + ESMO | 9 rpm | 0.9 s |
DPSC + ESMO | 6 rpm | 0.5 s |
Control Method | Overshoot | Settling Time |
---|---|---|
PI | 12 rpm | 2.4 s |
PI + ESMO | 9 rpm | 1.4 s |
DPSC + ESMO | 7 rpm | 0.7 s |
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Song, Z.; Zhou, W.; Mo, Y. Research on Predictive Speed Control Scheme for Surface-Mounted Permanent Magnet Servo Systems. Electronics 2024, 13, 3421. https://doi.org/10.3390/electronics13173421
Song Z, Zhou W, Mo Y. Research on Predictive Speed Control Scheme for Surface-Mounted Permanent Magnet Servo Systems. Electronics. 2024; 13(17):3421. https://doi.org/10.3390/electronics13173421
Chicago/Turabian StyleSong, Zhe, Weihong Zhou, and Yu Mo. 2024. "Research on Predictive Speed Control Scheme for Surface-Mounted Permanent Magnet Servo Systems" Electronics 13, no. 17: 3421. https://doi.org/10.3390/electronics13173421