Sensorless Model Reference Adaptive Control of Permanent Magnet Synchronous Motor for Industrial Robots

Abstract

In order to improve the speed and position control accuracy of permanent magnet synchronous motors for industrial robots, and to improve its performance. Firstly, the mathematical model of permanent magnet synchronous motor is given, and the model reference adaptive algorithm is introduced. Based on this algorithm, a sensorless control system for permanent magnet synchronous motor based on model reference adaptive is designed. It essentially does not use a speed or position sensing sensor to estimate the motor speed and position by detecting the stator voltage or stator current of the motor. By using MATLAB to simulate the whole system, the simulation curve shows that the proposed permanent magnet synchronous motor model reference adaptive sensorless control method has good adaptability and robustness to the rotational speed and rotor position change. It can realize high-performance sensorless control of permanent magnet synchronous motor. The control method can significantly improve the speed and position control accuracy of the permanent magnet synchronous motor for industrial robots, and is of great significance for improving industrial production efficiency.