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<p>The output regulation approach has effectively addressed the speed tracking and disturbance rejection problem of permanent magnet synchronous motor (PMSM). Although accurate speed tracking under time-varying load torque disturbance has been achieved, the number of disturbance frequencies should be known. In this paper, an adaptive observer-based error feedback control method is proposed, which can solve the speed tracking control problem of PMSM subject to completely unknown multi-frequency sinusoidal load torque disturbance, requiring only the upper bound of the number of disturbance frequencies. The design steps of this method can be divided into the following three steps. In step one, a filtered transformation is applied to convert the observer canonical form of the error system and the transformed exosystem into an adaptive observer form. In step two, an adaptive observer is designed to estimate the unknown parameters of the exosystem and states of the adaptive observer form. In step three, an adaptive observer-based error feedback controller is designed to solve this control problem. The effectiveness of the proposed method is demonstrated by experimental results.</p>

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Disturbance rejection of PMSM speed servo system: an adaptive observer approach

  • 期刊论文

  • 发表日期：

    2025年6月27日

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  • Zhicong Huo,
  • Zhaowu Ping,
  • Yingjie Jia,
  • Jiaze Hui,
  • Yunzhi Huang,
  • Jun-Guo Lu

摘要

The output regulation approach has effectively addressed the speed tracking and disturbance rejection problem of permanent magnet synchronous motor (PMSM). Although accurate speed tracking under time-varying load torque disturbance has been achieved, the number of disturbance frequencies should be known. In this paper, an adaptive observer-based error feedback control method is proposed, which can solve the speed tracking control problem of PMSM subject to completely unknown multi-frequency sinusoidal load torque disturbance, requiring only the upper bound of the number of disturbance frequencies. The design steps of this method can be divided into the following three steps. In step one, a filtered transformation is applied to convert the observer canonical form of the error system and the transformed exosystem into an adaptive observer form. In step two, an adaptive observer is designed to estimate the unknown parameters of the exosystem and states of the adaptive observer form. In step three, an adaptive observer-based error feedback controller is designed to solve this control problem. The effectiveness of the proposed method is demonstrated by experimental results.