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In this paper, a two-degree-of-freedom (2-DOF) speed control scheme for permanent magnet synchronous machines is developed. Both the reference-tracking and disturbance rejection performance are taken into account and only a single parameter related to expected bandwidth determines the dynamics. To improve the performance of speed control, a novel identification method for mechanical parameters is also proposed. The effectiveness of the proposed method is verified by simulations.

This paper has proposed a novel (Integral-Proportional) I-P controller in speed control of a permanent magnet synchronous machine (PMSM) drive system, it removes the side effects such as slow dynamic response of the conventional I-P controller and maintains the advantages in the meantime. Theoretical studies for the conventional P-I, I-P and the proposed controllers in the s-domain and z-domain are presented, and the transfer functions of them are derived. The responses of the controllers to step input reference and sudden change in reference speed and load are analysed in simulation and experiment. Both the simulation and the experimental results show the effectiveness of the proposed controller.

Phase lags limit loop gains and ultimately reduce the responsiveness of the high speed motion control system. We propose a predictive position and velocity observer. The predictive observer can provide a significant phase lead therefore the controller can be designed as if the control system does not have these phase lag elements. The implementation and tuning steps of the observer is also introduced. The simulations verify that the proposed observer can significantly improve the performance of the motion control system.