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Robust Speed Control With Disturbance Rejection for Surface-mounted Permanent Magnet Synchronous Motor

To improve the performance and robustness of the speed controller for surface-mounted permanent-magnet synchronous motor (SPMSM) drives, a novel super-twisting algorithm associated with extended state observer (denoted STA.ESO) for speed control is presented in this paper. First, a controller for the speed loop of the target SPMSM system based on a super-twisting algorithm (STA) is implemented. With the continuous control law, the STA can eliminate chattering, increasing the convergence speed in a finite time. Then, the extended state observer (ESO) is built to estimate the unknown disturbance and compensate for the estimated value for the speed controller in real-time. With the feedforward compensation technique, the anti-disturbance ability of the SPMSM system is greatly improved. Compared with conventional PI control, the proposed method can obtain a fast dynamic response, strong robustness, and torque ripple reduction when the motor operates under various conditions. The simulation and experimental results show the effectiveness of the proposed methods.