Background:
The conventional method using one-degree-of-freedom (1DOF) controller
for Permanent Magnet Synchronous Motor (PMSM) servo system has the trade-off problem between
the dynamic performance and the robustness.
Methods:
In this paper, by using H∞ control theory, a novel robust two-degree-of-freedom (2DOF)
controller has been proposed to improve the position control performance of PMSM servo system.
Using robust control theory and 2DOF control theory, a H∞ robust position controller has been designed
and discussed in detail.
Results:
The trade-off problem between the dynamic performance and robustness which exists in
one-degree-of-freedom (1DOF) control can be dealt with by the application of 2DOF control theory.
Then, through H∞ control theory, the design of robust position controller can be translated
to H∞ robust standard design problem. Moreover, the control system with robust controller has
been proved to be stable.
Conclusion:
Further simulation results demonstrate that compared with the conventional PID control,
the designed control system has better robustness and attenuation to the disturbance of load
impact.
Nonlinear Vibratory Energy Exchanges between a Two-Degree-of-Freedom Pendulum and a Nonlinear Absorber
