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

This is an open access article published by the IET under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/)
Received 14/08/2018, Accepted 31/08/2018, Published 21/09/2018

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.

Inspec keywords: robust control; position control; industrial robots; synchronous motors; permanent magnet motors; cascade control; optimal control; machine control; control system synthesis

Other keywords: 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

Subjects: Synchronous machines; Spatial variables control; Control of electric power systems

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