双三相永磁同步电机位置伺服前馈反馈复合控制

传统伺服系统的位置控制器只采用纯比例控制，不能兼顾系统的响应速度和稳定裕度，且对斜坡等输入信号不能实现无差跟踪。通过分析位置伺服系统的传递函数，设计了一种新型前馈反馈复合控制器。该复合控制器重构了系统的误差传递函数，使系统能够准确跟踪给定信号，提高了伺服系统的跟踪性能和稳定性。为了进一步提升电流环动态性能，在电流环添加反电动势前馈势补偿，用于减小反电动势对电流响应的影响。仿真和试验表明，该控制方法提高了位置伺服系统的动态性能和跟踪精度，验证了前馈反馈复合控制的有效性。

Compound Position Servo Control for Dual Three-Phase Permanent Magnet Synchronous Motor by Using Feedforward and Feedback

The position controller of the conventional servo system only adopts proportional control, without consideration of the response speed and stability margin of the system. In addition, error-free tracking for input signals such as slopes cannot be achieved. The system error is analyzed by constructing the transfer function model of the servo system, and then a feedforward and feedback compound controller is designed. The compound controller reconstructs the error transfer function of the system, and enables the system to accurately track a given signal. As a result, the tracking performance and stability of the servo system are improved. In order to further improve the dynamic performance of the current loop, a back electromotive force (EMF) feedforward potential compensation is added to the current loop to reduce the impact of the back-EMF on the current response. Simulation and experiment show that the feedforward and feedback compound control improves the dynamic performance and tracking accuracy of the position servo system, and the effectiveness of the proposed control can be verified.