Current Control Based on Improved Internal Model Regulator with Decoupled Principle Incorporated for Robotic Permanent Magnet Synchronous Motors

The permanent magnet synchronous motor (PMSM) has become the preferred driving technology in robotic control engineering due to its high-power density and excellent dynamic response capability. However, traditional vector control strategies, while widely used, reveal certain limitations due to their reliance on high-precision sensors and the complex coordinate transformation calculations. These limitations affect the performance of robots in high-speed environments. This paper proposes a decoupling design for the PMSM current loop based on Internal model control (IMC), aiming to improve control accuracy and response speed by simplifying the control algorithm. This new strategy not only maintains the basic framework of vector control but also enhances the dynamic performance of the system through effective decoupling. Simulations conducted using Simulink demonstrate that this strategy significantly improves system stability and dynamic response speed, achieving more precise and rapid control of the PMSM in applications with high load variation and speed requirements.