Permanent Magnet Synchronous Motor Position Servo With Limited Time/tracking

Considering that Permanent Magnet Synchronous Motor has various advantages like simple structure,efficient operating performance and large power factor,it can be widely applied in different high-precision fields,including aerospace,aircraft,as well as electric vehicles and intelligent robots,etc.Nevertheless,as a result of its high-order nonlinear and strong coupling the motor system,on the one hand,the design of Permanent Magnet Synchronous Motor control faces more difficulties due to the coupling between current and rotational speed,as well as the nonlinear characteristics of motor torque;on the other hand,the stability of the system is also reduced by uncertain factors such as the motor parameters changes and the sudden changes of load torque.Fortunately,the finite-time control can make the state of the system quickly stabilize in a limited time with faster convergence speed and stronger anti-interference,it is widely used in military industry,aerospace and other aspects;adaptive control can effectively eliminate the influence of system uncertainty and ensure better robustness.Therefore,the position tracking control design of permanent magnet synchronous motor in this paper has theoretical and practical significance,and will be studied from the following two aspects:(Ⅰ)Design of fast finite-time position tracking control for permanent magnet synchronous motorThis part studies the problem of fast finite-time position tracking control of permanent magnet synchronous motor position servo system,for accelerating the convergence speed of the system and satisfying the requirement of high motor performance,a fast finite-time position tracking controller is designed.Firstly,the motor model is transformed into a firstorder direct axis current error system and a third-order angular position error system,then,the symbolic function,the extended form of coordinate transformation and adding a power integrator technique are used to reduce the difficulty of constructing Lyapunov function,a unified Lyapunov function and a continuous state feedback controller are constructed simultaneously by inductive method,finally,the stability of the control system is analyzed by using the fast finite-time characteristic theorem.Simulation verifies that the control method based on fast finite-time stability makes the angular position of the motor tracks the given signal quickly in finite-time,and the tracking error can converge rapidly and remain zero in the case of sudden load change.The system has strong stability,anti-interference ability and the optimal convergence time is achieved.(Ⅱ)Design of adaptive position tracking control for permanent magnet synchronous motorThis part studies the problem of adaptive position tracking control of permanent magnet synchronous motor position servo system,to solve the problems existing in the system like parameter changes and external load disturbance,an adaptive position tracking controller is proposed.Firstly,new variables are defined for the motor system,based on the backstepping method,adaptive control technology is used to design adaptive laws for the changing friction coefficient,moment of inertia and load torque in the system,then the stability of the controlled system is analyzed by Barbalat lemma and inference.Simulation verifies that the motor position tracking control strategy based on adaptive can overcome the influence of system parameters and load uncertainty and realize the asymptotic tracking of the motor system to signal given position,while the system can also keep strong immunity,high stability and position tracking accuracy.