Antiwindup Composite Adaptive Speed Control for Permanent-Magnet Synchronous Motors

The Permanent Magnet Synchronous Motor (PMSM) are emerging as one of the most important categories of AC machine drives. Therefore, different control methods are used for speed control of PMSM. In this paper, sliding mode and Extended state observer (ESO) are used to improve the speed control of the PMSM drive system. A sliding mode controller is employed in the outer speed control loop for tracking the speed of PMSM. Load torque disturbance is estimated using ESO. Performance evaluation of the sliding mode controller with ESO is compared with the conventional speed controller using PI. Better speed tracking accuracy is obtained for sliding mode controller than conventional PI controller

In permanent magnetic synchronous motor (PMSM) speed regulation system, the tracking performance and disturbance rejection property of the system are coupled when using conventional active disturbance rejection control (ADRC) controller, which complicates the parameter setting of the controller. A decoupled ADRC controller with position feedback is proposed in this paper. Extended state observer (ESO) is modified to make disturbance rejection property of the system independent of the proportional coefficient, which affects both the tracking performance and the disturbance rejection property in the conventional ADRC control system. Using the modified ESO, the tracking performance and disturbance rejection property can be adjusted by the proportional coefficient and the bandwidth of ESO respectively, thus simplifies the parameter setting of the controller. Extensive experiments are performed on dSPACE DS1103 to verify the validity and practicality of the proposed algorithm.

With the widespread application of permanent magnet synchronous motors (PMSMs), drive control technology for these motors has gradually become a focal point of research. To overcome the drawbacks associated with installing separate sensors, sensorless drive control technology has attracted significant attention. This paper presents a sensorless flux linkage estimation method for permanent magnet synchronous motors (PMSMs) utilizing a nonlinear observer. In the absence of a position sensor, this method employs a Nonlinear Extended State Observer (ESO) along with advanced flux linkage techniques to accurately estimate the stator flux linkage. By integrating a voltage-current hybrid model, the approach facilitates adaptive switching between the voltage and current models, effectively addressing issues such as DC offset and integrator saturation that are common in first-order integration of the voltage model. Furthermore, the Nonlinear Extended State Observer is utilized to estimate and compensate for noise and disturbances in the voltage model, ensuring precise determination of the stator flux linkage during motor operation. Finally, a phase-locked loop (PLL) is implemented to estimate the rotor angle and speed, thereby enhancing the accuracy of these estimations and improving the overall performance of sensorless control in PMSMs.

In the permanent magnetic synchronous motor (PMSM) system with active disturbance rejection controller (ADRC), the estimation accuracy of extended state observer (ESO) will decrease when the ADRC does not depend on the system model completely. In order to improve the estimation accuracy, this paper proposes an improved ADRC approach by adding a model compensation term. Furthermore, the rotor inertia and viscous friction coefficient in the model compensation term is identified by the model reference adaptive identification (MRAI) algorithm. The load torque is estimated according to the mechanical equation of PMSM system. Then the identification values of rotor inertia, viscous friction coefficient, and load torque make up the compensation term of the ESO. Simulation results indicate that this improved ADRC approach has the better parameter robustness and anti-load-disturbance performance.

Nonlinear speed tracking control of PMSM servo system: A global robust output regulation approach

This paper presents a method for Permanent magnet synchronous motor (PMSM) drive using Field-Oriented Control (FOC) technology. The rotor speed and current tracking controllers are designed based on backstepping control theory. A Sliding-mode observer (SMO) is used to estimate the back electromotive force under a static frame. After that, a Phase-locked Loop (PLL) is designed to estimate the speed and position of the rotor. The SMO and PLL have robustness against disturbance, high accuracy estimation ability. Moreover, speed and current tracking performance may be affected significantly by the disturbance which is caused by parameter variations and external load torque. So another SMO is presented to estimate the lump disturbance and improve the robustness of the controllers. Finally, the simulation and results are implemented using Matlab/Simulink with Siemens 1KF7 PMSM.

A control system based on the principle of forced dynamics control for an electric drive with a permanent magnet synchronous motor and a flexible coupling is presented and verified by simulations. The controller is of the cascade structure, comprising an inner speed control loop and an outer position control loop. The inner forced dynamics speed control loop respects the principles of vector control and requires an estimate of the load torque, which is estimated in an observer. The outer position control loop based on the same principle is designed to control the rotor angle or load mass angle in the presence of a vibration mode due to the flexible coupling and with an external load torque. The derived control law requires estimates of the load torque and its derivatives, which are estimated in the load torque observer. The simulations presented indicate that the control system operates according to theory and therefore further investigations including experimental implementation are recommended.

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.

This article presents a Permanent Magnet Synchronous Motor (PMSM) sensorless control system using backstepping control. The Extended State Observer (ESO) is also used to perform the sensorless control, and to estimate the load torque which is considered an external disturbance of the control system. Starting from the classic Field Oriented Control (FOC) type PMSM control structure, the classic PI speed and current controllers i <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">d</sub> , i <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">q</sub> are replaced by a backstepping control structure. The main blocks used for the implementation and numerical simulation in the Matlab/Simulink graphical programming environment are presented. The very good static and dynamic performance obtained through numerical simulations even at high speeds, step variations of the value of the load torque, uniformly distributed noise, and variations of the PSMS nominal parameters can be explained by the fact that the backstepping control is applied to the non-linear system of the PMSM and by the step-by-step method of achieving each iqref, ud and uq control by using a Lyapunov-type function. Future articles propose the approach of real-time implementation of the PMSM sensorless control by using the backstepping control.

In this study, a Fault Tolerant Control (FTC) based Sliding Mode Control (SMC) strategy has been proposed to improve control performance of Permanent Magnet Synchronous Motor (PMSM) drive. The proposed SMC has proved its effectiveness through the different studies. The advantage that makes such an important approach is its robustness versus the parametric and the load torque disturbances. However, this approach implies a disadvantage under actuator faults. Indeed, the faults dealt with in this paper can be summarized in the class of stator asymmetries, mainly due to static eccentricity. In order to deal with this later and to solve this problem a FTC approach has been developed. Moreover, stability of the closed-loop system is guaranteed in the sense of Lyapunov stability theorem. Results of numerical simulations state that the proposed controller is successful in achieving high PMSM currents and speed tracings performances in the presence of load torque disturbances and actuator failures.

This paper proposes an enhanced Model Predictive Direct Speed Control (MPDSC) framework for Permanent Magnet Synchronous Motor (PMSM) drives, integrating duty ratio optimization and load torque disturbance compensation to significantly improve both transient and steady-state performance. Traditional finite-control-set MPC strategies, which apply a single voltage vector per sampling interval, often suffer from steady-state ripples, elevated total harmonic distortion (THD), and high computational complexity due to exhaustive switching evaluations. The proposed approach addresses these limitations through a novel dual-stage cost function structure: the first cost function optimizes dynamic response via predictive control of speed error, while the second adaptively minimizes torque ripple and harmonic distortion by adjusting the active–zero voltage vector duty ratio without the need for manual weight tuning. Robustness against time-varying disturbances is further enhanced by integrating a real-time load torque observer into the control loop. The scheme is validated through both MATLAB/Simulink R2020a simulations and real-time experimental testing on a dSPACE 1202 rapid control prototyping platform across small- and large-scale PMSM configurations. Experimental results confirm that the proposed controller achieves a transient speed deviation of just 0.004%, a steady-state ripple of 0.01 rpm, and torque ripple as low as 0.0124 Nm, with THD reduced to approximately 5.5%. The duty ratio-based predictive modulation ensures faster settling time, improved current quality, and greater immunity to load torque disturbances compared to recent duty-ratio MPC implementations. These findings highlight the proposed DR-MPDSC as a computationally efficient and experimentally validated solution for next-generation PMSM drive systems in automotive and industrial domains.

In the main drive system of a rolling mill, shaft torsional vibration is often generated when a motor and a roll are connected with a flexible shaft. State feedback control can effectively suppress the torsional vibration of the main drive system of a rolling mill. Because of the difficulty of measuring the load speed and the shaft torque, and moreover the sensitivity of the Luenberger observer to the model uncertainties and the noise include in the detected signal, in this paper, we propose an extended state observer (ESO), a new observer, to estimate the unknown states and the load torque disturbance. We propose an ESO and linear quadratic (LQ) based speed controller with an integrator and load torque feedforward compensation for torsional vibration suppression in a two-mass main drive system of a rolling mill. The simulation results show the controller effectively improves the performances of command following, torsional vibration suppression, and robustness to parameter variation. This is the first time that the ESO has been utilized in torsional vibration control of the main drive system of a rolling mill, and its validity and superiority is verified in comparison with the conventional proportional integral (PI) controller and the state feedback controller based on a reduced-order state observer.

Permanent magnetic synchronous motor (PMSM) is a strong coupling and non-linear system. In the speed-loop of PMSM servo system controlled by active disturbance rejection controller (ADRC), it is difficult to ensure the estimation precision of disturbance by extended state observer (ESO) in the case of big disturbance. In the paper, the ADRC based on the artificial neural network (ANN) is applied to the speed-loop of PMSM servo system. The result of simulation shows that this algorithm has better anti-load-disturbance performance.

To avoid affecting the satellite attitude stability, the speed ripple of rotating payloads such as microwave radiometer and microwave scattermeter will be limited. The speed ripple shall be ±0.05°/s (3σ) or less. The causes for the development of speed ripple are presented and analyzed, such as cogging torque, angle sensor accuracy, quantization error of speed and load disturbance torque. The capital speed ripple suppression methods are analyzed. Firstly, permanent magnet synchronous motor (PMSM) using vector control technique is used to drive directly rotating payloads, which can drive load smoothly. Secondly, cogging torque of motor is restrained with machine design to reduce torque ripple. Thirdly, quantization error of speed is eliminated with tracing filter. Fourthly, the load disturbance torque coming from slip ring and bearing friction is compensated with active disturbance rejection controller (ADRC). The control system has been simulated to verify disturbance rejection capability. After long term test on orbit, the speed ripple is reduced to 0.05°/s. This scheme is proved to be feasible.KeywordsSpeed rippleTorque rippleTracing filterADRC

High performance operation of a sensorless Permanent magnet synchronous motor (PMSM) drive demands accurate tuning of controller and observer parameters. This paper presents an Extended Kalman filter (EKF) based sensorless PMSM drive, wherein the dynamic performance of the closed loop controlled drive is enhanced from the dual perspective of the controller and the observer. To this effect, a modification of the speed controller is proposed to reduce the overshoot in speed which is otherwise present while using a conventional PI controller. The performance of the EKF observer is improved by a simple adaptive tuning, which effects fast dynamic response in speed estimation while providing better noise rejection in the steady state operation of the drive. The proposed techniques are validated using simulation and experiment, and results are presented for a Voltage Source Inverter fed 1.5 kW sensorless PMSM drive.