{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T01:27:31Z","timestamp":1760059651419,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2025,6,27]],"date-time":"2025-06-27T00:00:00Z","timestamp":1750982400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Scientific Research Foundation for the Introduction of Talent of Nanjing Vocational University of Industry Technology","award":["YK22-14-02"],"award-info":[{"award-number":["YK22-14-02"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>In integrated permanent magnet synchronous motors (IPMSMs) coupled with mechanical devices such as ball screws and reducers, complex nonlinear friction characteristics often arise, leading to asymmetrical distortions such as position \u201cflat-top\u201d and speed \u201cramp-up\u201d. These phenomena significantly degrade the system\u2019s positioning accuracy. To address this issue, this paper introduces a symmetry-inspired nonlinear predictive speed control approach based on the Stribeck piecewise linearized friction compensation and a generalized proportional integral (GPI) observer. The proposed method leverages the inherent symmetry in the Stribeck friction model to describe the nonlinear behavior, employing online piecewise linearization via the least squares method. A GPI observer was designed to estimate the lumped disturbance, including time-varying components in the speed dynamics, friction model deviations, and external loads. By incorporating these estimates, a nonlinear predictive controller was developed, employing a quadratic cost function to derive the optimal control law. The experimental results demonstrate that, compared to traditional integral NPC and PI controllers, the proposed method effectively restores system symmetry by eliminating the \u201cflat-top\u201d and \u201cramp-up\u201d distortions while maintaining computational efficiency.<\/jats:p>","DOI":"10.3390\/sym17071012","type":"journal-article","created":{"date-parts":[[2025,6,30]],"date-time":"2025-06-30T03:54:28Z","timestamp":1751255668000},"page":"1012","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Symmetry-Inspired Friction Compensation and GPI Observer-Based Nonlinear Predictive Control for Enhanced Speed Regulation in IPMSM Servo Systems"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3652-8897","authenticated-orcid":false,"given":"Chao","family":"Wu","sequence":"first","affiliation":[{"name":"Engineeing Training Center, Nanjing Vocational University of Industry Technology, Nanjing 210023, China"},{"name":"Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing 210096, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-7814-7347","authenticated-orcid":false,"given":"Xiaohong","family":"Wang","sequence":"additional","affiliation":[{"name":"Engineeing Training Center, Nanjing Vocational University of Industry Technology, Nanjing 210023, China"},{"name":"Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing 210096, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yao","family":"Ren","sequence":"additional","affiliation":[{"name":"Academy of Art and Design, Anhui University of Technology, Ma\u2019anshan 243002, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-5279-8761","authenticated-orcid":false,"given":"Yuying","family":"Zhou","sequence":"additional","affiliation":[{"name":"Academy of Art and Design, Anhui University of Technology, Ma\u2019anshan 243002, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,6,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"527","DOI":"10.1016\/j.isatra.2024.01.036","article-title":"Fractional-order electromagnetic modeling and identification for PMSM servo system","volume":"147","author":"Gan","year":"2024","journal-title":"ISA Trans."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"3916","DOI":"10.1109\/TPEL.2024.3498001","article-title":"Nonlinear flux observer for sensorless control of IPMSM based on a novel regression model","volume":"40","author":"Zhang","year":"2025","journal-title":"IEEE Trans. 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