Abstract
This paper investigates the speed regulation problem of permanent magnet synchronous motor (PMSM) servo system with backlash based on model predictive control (MPC). It is known that the existing backlash in servo systems causes steady-state errors, limit cycles and rigid collision. In order to counteract the adverse performance degradations of the backlash nonlinearity, a composite MPC strategy is investigated based on backlash cancellation and disturbance compensation. Firstly, an approximated dead-zone model of backlash is identified. Then, a generalized proportional-integral observer (GPIO) is constructed to estimate the lumped disturbances, including backlash modelling residual error, parameter uncertainties and external disturbances. By introducing disturbance estimation and backlash transmission torque into system model, a composite MPC can be obtained based on the prediction-precision enhanced model, which brings significantly improvements to control performance. Finally, the efficacy of the presented method is demonstrated by simulation results.
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