Time-Optimal Trajectory Planning Method for Servo PMSM Based on Short-Term Dynamic Feasible Region Constraint

Aiming at addressing the problem whereby the traditional time-optimal trajectory planning based on the steady-state torque–speed characteristic cannot fully exploit the short-term dynamic output performance of the servo permanent magnet synchronous motor (SPMSM), a time-optimal trajectory planning method for the SPMSM based on the short-term dynamic feasible region constraint is proposed to effectively improve the response speed. Firstly, the dynamic trapezoidal domain operation boundary is obtained by analyzing the motor working point variation curve and considering factors such as the working temperature and trajectory control, which constitutes the torque–speed value and the dynamic constraint mechanism of trajectory planning. Secondly, based on the energy consumption model, the average thermal power is used to represent the torque overload limit condition, and a dynamic constraint method based on the short-term dynamic torque–speed operation boundary is proposed. Then, in order to reduce the computational load in the online millisecond-level response, a time-optimal trajectory optimization algorithm based on sequential least squares is proposed to calibrate the positioning time of the time-optimal trajectory under different working temperatures and angles. Finally, a simulation and experimental comparisons of the time-optimal trajectories under different angles and working temperatures are carried out to verify the effectiveness of the proposed method.