PMSM Speed Control for Forging Machine Based on Iterative Learning Control Method

In this paper, Iterative Learning Control (ILC) is adopted to minimize speed tracking error of Permanent Magnet Synchronous Motor (PMSM) used in forging machine. A new model considering current loop is established, making it more suitable for PMSM control system. Analyzing the model under s domain, a practical method to figure out the specific convergence rate of tracking error is proposed. The tracking error can be designed to converge to a sufficient low level within limited iteration cycles. The effectiveness of P type and PI type ILC are compared. Simulation and experiments have been carried out to verify the effectiveness of the proposed method.