Speed Fluctuation Suppression of Permanent Magnet Synchronous Motor Based on Double Extended State Observer

For improving the speed fluctuation of permanent magnet synchronous motor under parameter variation and load disturbance, the control method based on double extended state observer (ESO) is introduced in the paper. Firstly, the defects of the traditional speed and current controller are analyzed, based on the speed mathematical model. The influence of the disturbance on the speed is also analyzed, where produces in the speed loop and current loop. And the improved motor robust control system is established. Secondly, the proportional ESO (PESO) of the dq-axes current loop is established. It accurately compensate the dq-axes output voltage error caused by the parameter changes. And the system stability is also proved. Thirdly, the anti-windup controller is introduced to improve the response lag of speed PI regulator. The time-varying parameter ESO of speed loop is established to reduce the influence on current output, which caused by parameter variation and load disturbance. Finally, the effectiveness of the proposed method are verified by simulation and experiment results.