Fixed Time Cooperative Control for PMSM Servo Systems With Multisource Uncertainties and Faults

This article investigates the high-speed and high-precision control problems of permanent magnet synchronous motor (PMSM) servo system under actuator faults, input constraints and unknown load conditions. From the perspective of signal processing and energy transformation, consider the PMSM servo system as a unified entity of multi-port signal processing and energy transformation. Then, a signal processing-based fixed time integral-type sliding mode control algorithm is designed to achieve fast dynamic trajectory regulation in dynamic process. By using the energy transformation-based fixed time error port-controlled Hamiltonian control method, the precise trajectory tracking and energy loss optimization control can be realized in steady-state process. Furthermore, a cooperative optimization control strategy based on convex combination mechanism is proposed, which fully utilizing the advantages of signal processing-based control and energy transformation-based control. A fixed time input constraint compensation mechanism is introduced to address the problem of input constraints. In addition, a fixed time-extended state observer is designed to handle actuator faults and unknown load problems, which can quickly observe faults and unknown load states, effectively improving fault tolerance and multisource uncertainties suppression performances of system. Finally, utilizing the Lyapunov criterion, the stability of the entire closed-loop system is discussed, and a large number of experimental results verified the effectiveness of the proposed strategy.