永磁同步电机位置跟踪控制器及Backstepping方法建模

针对永磁同步电机(PMSM)绕组相电流和转速强耦合特性，基于backstepping方法设计了高性能的位置跟踪控制器，并建立了采用该控制器的PMSM伺服系统仿真模型。仿真结果表明，用backstepping方法设计的PMSM控制系统可以获得很好的跟踪效果，并且其滤波跟踪误差迅速以指数特性收敛到零，具有很好的位置伺服控制特性。

Backstepping Method Modeling for Position Servo Controller of Permanent Magnet Synchronous Motor

A novel approach based on backstepping has been proposed to counter the effects of the nonlinearities between the phase currents and rotor velocity. First, we view the motor as a torque source and thus design a desired torque signal to ensure that the load follows the desired position trajectory. Then we utilize a simple commutation strategy to restate the desired torque signal as a set of desired current trajectories. Finally, the voltage control inputs are formulated to force the electrical winding currents to follow the desired current trajectories. A high performance position servo system of Permanent Magnet Synchronous Motor (PMSM) is designed using the proposed method. The simulation results show that the tracking error goes to zero exponentially fast for electromechanical dynamics.