Adaptive position servo control of permanent magnet synchronous motor

The permanent magnet synchronous motor (PMSM) has been widely used in many accurate servo control systems as it has excellent control qualities, large torque coefficient, small ripple torque, and so on. However, the model uncertainty of PMSM has an important effect on the accuracy of control systems. In this paper, the dynamic model for PMSM systems is established in an experimental method. The adaptive model following control law is presented for the position servo system of PMSM, and the motor velocity signal of the adaptive controller is estimated with the velocity observer. The experimental results verify the effectiveness of the adaptive control method and show that the position of the PMSM can follow the output of the reference model well.