Command Filter Discrete Control Of Permanent Magnet Synchronous Motor Considering Input Saturatio

Permanent magnet synchronous motor(PMSM)has been widely promoted in the field of servo drive and industrial and agricultural production because of its advantages of high efficiency,simple structure and long service life.However,PMSM has complex characteristics such as high order and nonlinearity,and is vulnerable to external disturbances and parameter uncertainty,so it is difficult to achieve good dynamic and static response.In addition,in PMSM drive system,if the voltage exceeds a certain range,it will affect the control performance of the motor,and even burn the motor and cause safety problems.At the same time,with the rapid development of computer network,digital computers have been widely used.Most control algorithms use digital computers for sampling.Compared with continuous-time systems,discrete-time systems have realizability and stability in the field of computer control and have more advantages in describing practical problems.Therefore,by considering the input saturation problem in PMSM discrete-time system,a feasible control method is proposed,and it has important research value to improve the position tracking performance of the system.Combined with discrete-time control,adaptive fuzzy control,command filtered backstepping control and event-triggered mechanism,the tracking control problem of PMSM discrete-time system considering input saturation is proposed in this paper.The main research results are as follows:(1)A new event-triggered control strategy is proposed for uncertain nonlinear discrete-time systems.Firstly,the command filter can deal with the repeated difference of the virtual control function,avoiding the problems of noncausal and “complexity of computation”.At the same time,the compensation mechanism is introduced to eliminate the filtering error caused by the first-order filter and significantly improve the control accuracy of the system.Secondly,in the process of controller design,the fuzzy logic system is integrated into the algorithm to deal with the uncertain nonlinear terms in the system.Finally,the trigger mechanism is used to reduce the amount of trigger and reduce the waste of computing resources.(2)Considering the voltage saturation of PMSM,an input saturation controller is designed to achieve good control performance of the motor.Firstly,considering the saturation phenomenon of PMSM,combined with the piecewise function,the voltage is limited to a certain range to improve the control performance of the system.Secondly,the command filtered technology is used to obtain the difference of the virtual control function,which avoids the complex difference process,overcomes the noncausal problem,and introduces the compensation technology to eliminate the error caused by the filter.Finally,the simulation results show that the method used in this paper can deal with the problem of input saturation,and the system has good position tracking performance.At the same time,an AC synchronous servo rapid prototype experimental platform is built for experimental analysis to verify the feasibility of the proposed method.(3)Considering the frequent updating of adaptive law and control law in PMSM discrete-time system and considering the input saturation,a new strategy of eventtriggered command filtered position tracking control is proposed in this paper.The eventtriggered mechanism reduces the continuous signal transmission between the sensor and the controller,avoids the continuous update of the adaptive law,so that the controller will not be updated frequently,reduces the wear degree of the actuator and increases the service life of the motor.The simulation analysis shows that PMSM not only has good position tracking control,but also uses event-triggered mechanism to reduce the update frequency of adaptive law,reduce the computational burden and reduce the waste of resources.