基于改进跟踪微分器前馈的PMSM复合控制OA北大核心CSTPCD

To realize the fast tracking of position servo system without overshoot,a compound control method of permanent magnet synchronous motor based on improved nonlinear tracking differentiator feedforward was proposed.Based on the feed-forward control method of the traditional tracking differentiator,an improved tracking differentiator was designed for the feed-forward link of the position command.Aiming at the problem of acceleration factor adjustment,the formula of acceleration factor was given in combination with the current limiting of the system,which simplified the adjustment process.Aiming at the step response overshoot problem,the maximum speed constraint parameter was introduced to realize the fast tracking of step instruction without overshoot.Aiming at the problem of continuous signal tracking lag,the step parameter of advance calculation was introduced to realize the advance prediction of input instruction,which compensated the tracking lag of the system.Simulation and experimental results show that the proposed method can track step instructions quickly without overshoot,reduce the overshoot of the system from 4.4%to 0.0%under given experimental conditions,and reduce the maximum tracking error of the system for given sinusoidal instructions by 34.4%,effectively improving the system position tracking performance.