In view of the flaws of poor position tracking accuracy and weak anti-interference performance of permanent magnet servo motors during operation,a composite model predictive control strategy has thus been proposed,with model predictive position control combined with non-singular fast terminal sliding mode speed control.The control strategy adopts a non-singular fast terminal sliding mode design speed controller for an effective improvement of the response speed and system robustness,with the model predictive position control adopted for an improvement of the position tracking accuracy.Meanwhile,a cascaded inertial load torque observer,which is based on the combination of rotational inertia observation and load torque observers,is adopted to observe the load torque and perform feed-forward compensation,thus further improving the anti-interference performance of the system.Based on simulation and experimental results,it can be concluded that the proposed composite model predictive control helps to effectively improve the dynamic response speed and load disturbance resistance of permanent magnet servo motors.
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