Precision Position Servo PMSM Fast-Response Control Based on Trajectory Planning and ADRC

Trajectory planning and tracking control strategies have a significant impact on the fast and stable operation of high-precision position servo permanent magnet synchronous motors (PMSMs). Therefore, this paper proposes an active disturbance rejection control (ADRC) strategy for high-precision position servo PMSMs based on jerk- and time-optimal trajectory planning. Firstly, in order to meet the requirement of continuous jerk in the positioning process of precision loads, the seventh-degree Chebyshev polynomial is adopted to establish the point-to-point trajectory planning function. Based on the dynamic boundary conditions under the short-term overload of PMSMs, and with the positioning time as the optimization objective, the optimal coefficient of the polynomial is solved through the fast particle swarm optimization (FPSO) algorithm to obtain the trajectory planning function that takes into account both jerk and time performance. Then, the trajectory plan is used as the position loop reference signal to construct a non-cascade second-order ADRC strategy, leading to a position servo PMSM control strategy that combines a second-order disturbance observer and feedback control law. Finally, the experimental platform is set up to verify the proposed method. The results show that, compared with the traditional control methods, the steady-state positioning time of the control strategy proposed under typical working conditions is reduced by 12.5%, and the jerk continuity during the positioning process has also been significantly improved.