High-frequency position tracking control framework for PMSM-based servo system considering dynamic load identification

Abstract In permanent magnet synchronous machine (PMSM)-based servo systems, the intricate interplay of electrical and magnetic dynamics poses many practical challenges, particularly in high-frequency position tracking scenarios. Inappropriate control methods employed with the PMSM may lead to unacceptable phase lags and even jeopardize the connected precision machining or laser processing devices. This article establishes a high-frequency position tracking control framework for PMSM-based servo systems considering dynamic load identification. Therein, a reduced-order generalized proportional-integral observer-based composite control strategy is developed for stator current regulation, aiming at improving the transient/steady-state performance and anti-disturbance capability. An adaptive quasi-proportional-resonant control and a disturbance observer are proposed for position and speed regulation, respectively, enabling the rapid tracking of high-frequency sinusoidal references, as well as the accurate identification of load conditions of the PMSM. The stability of these algorithms is theoretically verified by accommodating the model of the servo system. The superiority of the proposed high-frequency position tracking control framework considering various operating scenarios of the system is verified by diversified simulations and hardware-in-the-loop-based experiments.