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arXiv · 2202.04594

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

Yong Woo Jeong·Chung Choo Chung
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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.

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Yong Woo Jeong, Chung Choo Chung. 2022-02-09. A Nonlinear Proportional Integral Disturbance Observer and Motion Control Technique for Permanent Magnet Synchronous Motors. https://arxiv.org/abs/2202.04594

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