Permanent Magnet Synchronous Motor Steering Control for Omnidirectional Autonomous Vehicle

This paper presents a position trajectory control and velocity trajectory feedforward control scheme implemented in the permanent magnet synchronous motor (PMAC) steering servo control for omnidirectional autonomous intelligent vehicles. With this proposed control scheme, smooth and accurate steering motion can be achieved with minimized dynamic acceleration and deceleration current. Depending on the application requirements, the end-users of autonomous vehicles will have the freedom to configure the dynamic performance of the steering servo motion with proper settings of the maximum steering speed and the maximum steering motion acceleration rate.