Permanent magnet synchronous motors (PMSMs) are widely used in a variety of fields such as aviation, aerospace, marine, and industry due to their high angular position accuracy, energy conversion efficiency, and fast response. However, driving errors caused by the non-ideal characteristics of the driver negatively affect motor control accuracy. Compensating for the errors arising from the non-ideal characteristics of the driver demonstrates substantial practical value in enhancing control accuracy, improving dynamic performance, minimizing vibration and noise, optimizing energy efficiency, and bolstering system robustness. To address this, the mechanism behind these non-ideal characteristics is analyzed based on the principles of space vector pulse width modulation (SVPWM) and its circuit structure. Tests are then conducted to examine the actual driver characteristics and verify the analysis. Building on this, a real-time compensation method is proposed, physically matched to the driver. Using the volt-second equivalence principle, an input-output voltage model of the driver is derived, with model parameters estimated from test data. The driving error is then compensated with a voltage method based on the model. The results of simulations and experiments show that the proposed method effectively mitigates the influence of the driver's non-ideal characteristics, improving the driving and speed control accuracies by 88.07% (reducing the voltage error from 0.7345 V to 0.0879 V for a drastic command voltage with a sinusoidal amplitude of 10 V and a frequency of 50 Hz) and 53.08% (reducing the speed error from 0.0130°/s to 0.0061°/s for a lower command speed with a sinusoidal amplitude of 20° and a frequency of 0.1 Hz), respectively, in terms of the root mean square errors. This method is cost-effective, practical, and significantly enhances the control performance of PMSMs.
Keywords: driving error compensation; permanent magnet synchronous motor; space vector pulse width modulation; speed control.