Data-based cascade control of permanent magnet synchronous motor with industrial robot application

作     者：Xie, Yuanlong Tang, Xiaoqi Song, Bao Tao, Jieyu Li, Hu Ye, Bosheng 

作者机构：Huazhong Univ Sci & Technol Natl NC Syst Engn Res Ctr Sch Mech Sci & Engn State Key Lab Digital Mfg Equipment & Technol Luoyu Rd 1037 Wuhan 430074 Hubei Peoples R China 

出 版 物：《JOURNAL OF ENGINEERING-JOE》 (J. Eng.)

年 卷 期：2018年第2018卷第17期

页      面：1930-1934页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 

基　　金：Fundamental Research Funds for the Central Universities [HUST 2018JYCXJJ037] Huazhong University of Science and Technology National Natural Science Foundation of China [51575208, 51475185, 51575209] Graduates' Innovation Fund 

主　　题：robust control optimal control cascade control industrial robots position control machine control permanent magnet motors synchronous motors control system synthesis developed field-bus industrial robot actuation PMSM systems optimal control parameters collected data cascade position controller optimisation problem system model information controller design process data data-based method accurate position profile-tracking cascade control method PMSM actuation systems position control performance manufacturing applications industrial robot application permanent magnet synchronous motor data-based cascade control 

摘      要：The industrial robot is typically actuated by a permanent magnet synchronous motor (PMSM). In manufacturing applications, the position control performance of the PMSM actuation systems will directly affect the efficiency and precision of the industrial robot. This study proposes a cascade control method to achieve accurate position profile-tracking for a field-bus industrial robot. The proposed method is a data-based method, which implies that only process data is directly used for the controller design without system model information. The cascade position controller optimisation problem is formulated using the collected data from the plant to be controlled. Then, a multiple degrees-of-freedom solution is designed to obtain the optimal control parameters for all actuation PMSM systems. The effectiveness and robustness of the proposed method are demonstrated using an experimental example implemented on the developed field-bus industrial robot.