Research on the Control System Based on Internal Model Decoupling for Toroidal Motor

Based on the analysis of the mathematical model of toroidal motor, it is found that the inductance of the toroidal motor is a periodic variable parameter and there is a phenomenon of current cross coupling. With the increase of the speed, the coupling is more serious, which affects the output performance of the toroidal motor system. Therefore, the internal model control is introduced into the current loop. The internal model decoupling controller is designed according to the mathematical model, and then the simulation model is built. Compared with the traditional PI control, it is found that this method has good current decoupling effect and can effectively improve the dynamic performance of the toroidal motor.