Control for trajectory tracking of permanent magnet spherical motor based on computed torque method

The permanent magnet spherical motor(PMSM)is a multivariable, nonlinear and strong coupling system. The external disturbance, the evaluated error of parameters and model error all have a great influence on the control performance of the motor. In order to obtain a better static and dynamic performance, and improve the trajectory tracking performance, a trajectory tracking control strategy of PMSM based on a computed torque method was proposed. The simulation results indicate that the proposed method can effectively eliminate the influences of inter-axis nonlinear coupling, and has better robustness against the external disturbance and the model error. Furthermore on excellent tracking trajectory performance can also be realized.