In this article, a rotor position tracking control (RPTC) strategy is proposed to effectively reduce the speed fluctuation for a direct-drive permanent magnet synchronous motor servo system operating at a low speed with different torque disturbances. In this article, considering the derivative relationship between the rotor position and speed, a speed command is converted to a real-time rotor position trajectory, and then a position-current two-loop control with the RPTC controller is proposed based on the internal model method to smoothly track the rotor position. In addition, the parameter design of the RPTC controller from the perspectives of robust stability and antidisturbance capability is investigated as well. The comparative simulation and experimental results demonstrate that, at a low speed, the proposed RPTC strategy has a good speed performance for both periodic and nonperiodic torque disturbances. Moreover, it enjoys a simple implementation for not requiring the precise speed feedback and specific torque disturbance information.

中文翻译：

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直驱PMSM伺服系统低速运行的转子位置跟踪控制

在本文中，提出了一种转子位置跟踪控制（RPTC）策略，以有效降低在低速下具有不同转矩扰动的直驱永磁同步电动机伺服系统的速度波动。考虑转子位置和速度之间的微分关系，将速度指令转换为实时转子位置轨迹，然后基于内部模型提出了采用RPTC控制器的位置-电流两环控制平滑跟踪转子位置的方法。此外，还从鲁棒稳定性和抗干扰能力的角度研究了RPTC控制器的参数设计。对比仿真和实验结果表明，低速运行时，所提出的RPTC策略对于周期性和非周期性的扭矩扰动都具有良好的速度性能。此外，由于不需要精确的速度反馈和特定的扭矩扰动信息，它具有简单的实现方式。