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

The Journal of Engineering

Yuanlong Xie¹  Xiaoqi Tang² 

[1] National NC System Engineering Research Center, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering , Huazhong University of Science and Technology , Luoyu Road 1037, Wuhan 430074 , People's Republic of China

关键词: manufacturing applications;    collected data;    developed field-bus industrial robot;    industrial robot application;    controller design;    process data;    PMSM actuation systems;    permanent magnet synchronous motor;    cascade position controller optimisation problem;    position control performance;    cascade control method;    optimal control parameters;    system model information;    actuation PMSM systems;    data-based method;    accurate position profile-tracking;    data-based cascade control;   

DOI  :  10.1049/joe.2018.8343

学科分类：工程和技术（综合）

来源: IET

【 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.

【 授权许可】

CC BY