Research on trajectory tracking control method for agricultural robot permanent magnet synchronous motor servo system based on improved EMD threshold wavelet filtering

In agricultural robots, trajectory tracking can be affected by disturbances such as road slopes or bumps, leading to sudden changes in path curvature and reduced control accuracy. To address this issue, we propose a servo motor drive control method based on an improved Empirical Mode Decomposition (EMD) threshold. A mathematical model integrating the drive and control of the servo motor is established, and the driving performance of the servo motor is analyzed. By detecting the speed and position of the servo motor, the specified three-phase current values for motor drive control are derived. The actual current of the motor is collected using Hall current sensors and denoised with an improved EMD threshold wavelet filtering method. Within the servo motor drive control model, the system calculates the difference between the given three-phase current values and the actual motor current, and this difference is then used to adjust the motor control via an input linear amplifier, ensuring integrated drive control. Simulation and experimental results show that the proposed trajectory tracking control method for the agricultural robot’s permanent magnet synchronous motor servo system exhibits high control accuracy, strong anti-interference ability, and good performance, making it more suitable for practical applications.