Robust Adaptive Resonant Controller for PMSM Speed Regulation Considering Uncertain Periodic and Aperiodic Disturbances

Abstract

This paper studies a robust adaptive resonant controller (RARC) for the speed loop of permanent magnet synchronous motor (PMSM) drives to attenuate periodic speed fluctuation of uncertain frequency. The conventional adaptive resonant controller is susceptible to the aperiodic disturbances (e.g., load torque, parameter variation, and friction torque), so it has poor robustness to the aperiodic disturbance. To solve this problem, a linear extended state observer is applied to estimate the aperiodic disturbances, and then the estimated disturbances are adapted to the adaptive resonant controller to enhance its robustness. Thus, the proposed scheme can suppress the uncertain periodic and aperiodic disturbances simultaneously. Also, the stability of the closed-loop system with the proposed scheme is analyzed by the singular perturbation theory and the averaging theorem, which can guide the tuning of control parameters. Therefore, even if there exist aperiodic disturbances, the studied RARC can also stably operate to suppress the periodic disturbance of uncertain frequency. The effectiveness of the studied RARC is validated on a 2.2-kW PMSM drive platform.