Current Tracking for PMSMs Using Discrete Time Delay Control with Estimation Error Compensation

The high working performance of robots and manipulators is inseparable from the high-precision current tracking control of joint motors. However, current research on motor current control does not specifically address the operating conditions of manipulators. Therefore, this paper proposes a time delay control (TDC) algorithm with time delay estimation (TDE) error compensation tailored for the working conditions of manipulators with rapidly changing reference current and speed conditions. Firstly, in response to the dilemma of conventional discrete time delay control (DTDC), a TDE error compensation term is added to the control law. Then, the effectiveness and scientific validity of the proposed method are explained from the perspective of gradient descent. Finally, by comparing the experimental results between the conventional method and the proposed one, the effectiveness of the proposed method is validated.