Internal Model Control of PMSM Position Servo System: Theory and Experimental Results

Much recently, an internal model approach from output regulation theory has been adopted to solve the speed tracking control problem of the permanent magnet synchronous motor (PMSM) system on simulation level. A striking advantage of this approach is that it can achieve multiple goals including trajectory tracking, disturbance rejection, and robustness simultaneously. This article further studies a position tracking control problem of the PMSM system under nonlinear load torque disturbance. A nonlinear internal model based output feedback controller is proposed, which can achieve exact position tracking and allow certain parameter uncertainties. Besides simulation results, a real-time experimental setup is built and experimental results are provided to illustrate the effectiveness of the proposed controller. It is worth mentioning that the proposed controller can lead to a high precision position tracking performance under nonlinear load torque disturbance.