Research on Control Strategy of PMSM Driving Variable Load with Large Inertia

摘要

Permanent magnet synchronous motor (PMSM) needs to drive variable load with large inertia when it is applied to robot joints and other occasions. Traditional PID servo control system cannot realize accurate position tracking. Aiming at this problem, a position feed-forward PID control strategy is studied in this paper. The innovations of this paper mainly include the following points: 1) Mathematical model of PMSM and manipulator load is established, and the influence of load inertia on system feed-forward coefficient is calculated. 2) The system simulation model was built by MATLAB and the experiment was verified by a TMS320F28335 controller. Compared with the traditional PID servo control strategy, the position tracking performance of the position feed-forward PID control strategy was significantly improved, which could meet the needs of servo control occasions such as robots.