Position control of PMSM using jerk-limited trajectory for torque ripple reduction in robot applications

In the modern industry, the motor control is required for the accurate position control. Particularly, the frequent acceleration and deceleration are operated in the robot control. Also, the short time of acceleration and deceleration is demanded for the reduction of process cycle. However, in case the inertia of motor is large, the vibration of motor is occurred in the section of short acceleration and deceleration. Therefore, the algorithm of position pattern is considered for the condition of the optimal drive. In the section of short acceleration and deceleration, the vibration of motor is reduced by the S-curve output of speed pattern. In this paper, the position reference in consideration of jerk is generated in the control system of permanent magnet synchronous motor (PMSM). The reduction of vibration occurred in acceleration and deceleration of motor is verified through the simulation and experimental results.