A Nonlinear Proportional Integral Disturbance Observer and Motion Control Technique for Permanent Magnet Synchronous Motors

TL;DR

This paper introduces a nonlinear disturbance observer and control method for surface-mounted PMSMs to improve motion tracking accuracy during rapid speed changes and unknown load conditions.

Contribution

The paper proposes a novel N-PI disturbance observer combined with a nonlinear current controller for enhanced PMSM motion control, validated through experimental comparison.

Findings

Improved tracking performance during rapid speed variations.

Effective load torque estimation with N-PI-DOB.

Enhanced stability of motion and estimation error dynamics.

Abstract

In this paper, we present a Nonlinear-Proportional Integrator (N-PI) disturbance observer (DOB) to enhance the motion tracking of the performance of a surface-mounted Permanent Magnet Synchronous Motor (SPMSM) in rapidly speed varying regions. By presenting an N-PI-DOB for load torque estimation with torque modulation technique, we show that the tracking error dynamics of angular position/velocity are coupled with tracking errors of currents loop and estimation errors. After analyzing disturbances of currents tracking error dynamics, we design the N-PI-DOB and Lyapunov-based nonlinear currents controller to enhance the motion tracking performances. With these N-PI-DOBs and motion controllers, we analyze the stability of motion tracking error dynamics and estimation error dynamics. We experimentally perform a comparative study with/without the N-PI-DOB to verify the effectiveness of the proposed method in the condition of the unknown load torque and rapidly speed-varying.