Finite-Time Position-Velocity Control for Permanent Magnet Synchronous Motor Servo System Considering Reference Signal Variation

The position-velocity-current triple loop structure is a classic servo control structure. Nevertheless, the inner loop controller in the multi loop cascade structure limits the response speed of the outer loop. Therefore, a finite-time high-order position velocity single-loop control strategy considering the position velocity loop merging structure of the reference signal is proposed to enhance the control response of the position servo system. The proposed control scheme takes into account the changes in the given signal and supplements them into the controller in the estimated state. In addition, compared to traditional finite-time state observers, high-order finite-time state observers have better estimation performance for disturbances and expand the estimation range of disturbances. Finally, the experimental results demonstrate the efficacy of the proposed methodology.