It is well known that load torque disturbance and parametric uncertainties commonly exist in permanent magnet synchronous motor (PMSM) and may reduce the tracking accuracy especially when the reference trajectory is time-varying. Thus it is challenging to achieve precise speed tracking control with both load torque disturbance and parametric uncertainties being taken into account. This task can be formulated as a global robust output regulation problem (GRORP) of multi-input, multi-output nonlinear system. In this paper, a systematic internal model control (IMC) method is proposed to solve the GRORP. By constructing a suitable internal model, we convert the GRORP into a global stabilization problem of an augmented system, and then design a stabilization controller to globally stabilize the augmented system. To validate the advantages of the proposed IMC method, comparative studies with conventional proportional–integral speed control method and linear active disturbance rejection control method are conducted via simulations and experiments. It is worthy of mentioning that our method can not only achieve high precision speed tracking performance under time-varying reference speed and/or load torque disturbance, but also allow all the motor parameters to be uncertain.

众所周知，永磁同步电动机（PMSM）中普遍存在负载转矩扰动和参数不确定性，特别是在参考轨迹随时间变化时，可能会降低跟踪精度。因此，在兼顾负载转矩扰动和参数不确定性的情况下实现精确的速度跟踪控制具有挑战性。可以将该任务表述为多输入多输出非线性系统的全局鲁棒输出调节问题（GRORP）。本文提出了一种系统的内部模型控制（IMC）方法来解决GRORP问题。通过构建合适的内部模型，我们将GRORP转换为增强系统的全局稳定问题，然后设计一个稳定控制器来全局稳定增强系统。为了验证所提出的IMC方法的优势，通过模拟和实验与常规比例积分速度控制方法和线性有源干扰抑制控制方法进行了比较研究。值得一提的是，我们的方法不仅可以在时变参考速度和/或负载转矩扰动下实现高精度的速度跟踪性能，而且还可以使所有电机参数不确定。