In order to decrease the influence of system parameters and load on the dynamic performance of permanent magnet synchronous motor (PMSM) in cooperative robot joint modules, a practical model-based robust control method was proposed. It inherits the traditional proportional-integral-derivative (PID) control and robust control based on error and model-based control. We first set up the nominal controller using the dynamics model. In order to limit the influence of uncertainty on dynamic performance, a robust controller is established based on Lyapunov method. The control can be regarded as an improved PID control or a redesigned robust control. Compared with the traditional control method, it is simple to implement and has practical effects. It is proved by theoretical analysis that the controller can guarantee the uniform boundedness and uniform final boundedness of the system. In addition, the prototype of fast controller cSPACE is built on the experiment platform, which averts long-time programming and debugging. It offers immense convenience for practical operation. Finally, numerical simulation and real-time experiment results are presented. Based on cSPACE and a PMSM in the joint module of a practical cooperative robot, the availability of the control design and the achievable control performance are verified.

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.