Nonlinear and adaptive alternating-current servo electric motor angular position control method and system

A method for nonlinear adaptive control of angular position of an AC servo motor, comprising:

• obtaining angular position data of a rotor;
• comparing the angular position data of the rotor with a desired angular position of the rotor, a difference of which being inputted to a rotor angular position control processing circuit;
• taking a second-order time derivative of the angular position data of the rotor to generate angular acceleration data of the rotor;
• inputting both of the angular acceleration data of the rotor and an output of the rotor angular position control processing circuit to an incremental dynamic inversion control processing circuit;
• wherein the incremental dynamic inversion control processing circuit is expressed as:
• Δ
• ⁢
• i
• q
• =
• (
• i
• q
• -
• i
• q
• ⁢
• 0
• )
• =
• J
• p
• [
• ψ
• m
• -
• (
• L
• q
• -
• L
• d
• )
• ⁢
• i
• d
• ]
• ⁢
• (
• v
• θ
• -
• d
• 2
• ⁢
• θ
• dt
• 2
• ❘
• 0
• )
• where q denotes an increment of output current of the incremental dynamic inversion control processing circuit, iq denotes an output current of the incremental dynamic inversion control processing circuit, iq0 denotes a preceding sample value of the output current of the incremental dynamic inversion control processing circuit, J denotes a rotational inertia, p denotes the number of magnetic poles of the motor, ψm denotes a magnetic flux of permanent magnet, Lq denotes a q-axis inductance, Ld denotes a d-axis inductance, id denotes a d-axis current, vθ denotes a virtual control variable in dynamic inversion control, and
• ?
• ?
• ?
• ?
• ?
• ❘
• ?
• ?
• indicates text missing or illegible when filed
• denotes a second-order time derivative of the angle of rotation of the rotor at a sampling point;
• and inputting an output of the incremental dynamic inversion control processing circuit to
• a motor current control processing circuit.