Speed-current single-loop control of PMSM based on model-assisted cascaded extended state observer and sliding mode control

This paper proposes a novel speed-current single-loop speed regulation controller for permanent magnet synchronous motor (PMSM) based on model-assisted cascaded extended state observer (ESO) and sliding mode control (SMC), aimed at simplifying the control structure, increasing dynamic performance, and improving antidisturbance performance. Firstly, a cascaded ESO based on model information is designed for the second-order model of single-loop control of PMSM. This approach allows for quick and accurate estimation of disturbance without increasing bandwidth, while also reducing the burden of ESO with model-assisted information. Next, with the estimation disturbance feedforward compensation, the composite controller is constructed based on SMC, which effectively eliminates residual disturbance and reduces chatterings. The stability of the closed-loop system under the proposed controller is proved strictly. Finally, simulations and experiments are conducted to validate the effectiveness and robustness of the proposed method. This paper proposes a novel speed-current single-loop speed regulation controller for permanent magnet synchronous motor (PMSM) based on model-assisted cascaded extended state observer (ESO) and sliding mode control (SMC), aimed at simplifying the control structure, increasing dynamic performance, and improving antidisturbance performance. image