Data-based cascade control of permanent magnet synchronous motor with industrial robot application

The industrial robot is typically actuated by a permanent magnet synchronous motor (PMSM). In manufacturing applications, the position control performance of the PMSM actuation systems will directly affect the efficiency and precision of the industrial robot. This study proposes a cascade control method to achieve accurate position profile-tracking for a field-bus industrial robot. The proposed method is a data-based method, which implies that only process data is directly used for the controller design without system model information. The cascade position controller optimisation problem is formulated using the collected data from the plant to be controlled. Then, a multiple degrees-of-freedom solution is designed to obtain the optimal control parameters for all actuation PMSM systems. The effectiveness and robustness of the proposed method are demonstrated using an experimental example implemented on the developed field-bus industrial robot.