In this paper, for periodic motion tasks, combining adaptive PID-type sliding mode control (APIDSMC), model reference adaptive control (MRAC) and periodic adaptive learning control (PALC), a novel APIDSMC-PALC compensation approach towards energy efficiency is proposed to suppress the influence of torque ripple in permanent magnet synchronous motor (PMSM) servo systems. Using particle swarm optimization (PSO) algorithm, the equivalent control gain of sliding mode control is optimized to achieve energy efficiency during long-term operation. The objective of the proposed ripple compensation algorithm is to accurately approximate two dominant harmonic amplitudes in the torque ripple and generate an additional control effort for ripple compensation. Simulation and testbed experimental results demonstrate that with the proposed ripple compensation algorithm, the objective of excellent position tracking performance is ensured, and the energy efficiency is improved.

本文针对周期性运动任务，结合自适应PID型滑模控制（APIDSMC），模型参考自适应控制（MRAC）和周期性自适应学习控制（PALC），提出了一种新的APIDSMC-PALC能量效率补偿方法，以实现节能。抑制转矩脉动对永磁同步电动机（PMSM）伺服系统的影响。使用粒子群优化（PSO）算法，对滑模控制的等效控制增益进行了优化，以实现长期运行时的能源效率。提出的纹波补偿算法的目的是准确地估算转矩纹波中的两个主要谐波幅度，并产生用于纹波补偿的额外控制工作。