A practical robust bounded control of permanent magnet synchronous motors with inequality constraints

In order to solve the problems of large overshoots and large errors in the trajectory tracking control of permanent magnet synchronous motor (PMSM), a new robust controller is designed in this paper to obtain a more stable control effect and reduce the trajectory tracking error. The control algorithm consists of two parts. First, construct a state transformation function to eliminate the constraints in the output state variables, so that the output is strictly limited to the range we expect, and a new dynamic model is obtained. Then, a robust controller based on the Lyapunov method is adopted to eliminate the influence of uncertainty on the tracking performance and obtain more accurate trajectory tracking. And the theoretical analysis proves that the controller can guarantee the requirements of uniform boundedness and uniform limit boundedness. In addition, we use the rapid controller prototype CSPACE and the actual permanent magnet synchronous motor platform for simulation and experimental verification. The result shows, that by utilizing the designed controller on the PMSM, we will get a much more excellent dynamic performance and safety performance is greatly improved.