Backstepping Control with Disturbance Observer for Permanent Magnet Synchronous Motor

Abstract

For the speed tracking control problem of Permanent Magnet Synchronous Motor (PMSM), a disturbance observer-based (DOB) backstepping speed tracking control method is presented in this paper. First, to reconstruct the load disturbance, a slowly time-varying disturbance observer for PMSM is constructed. Next, by stability theory, the norm of the observation error and disturbance observer design method are obtained. On the basis of these, through the designing of the virtual control input that include the reconstruction disturbances, and using backstepping control strategy, the DOB controller of the closed-loop system is proposed. The obtained controller can achieve high precision speed tracking and disturbance rejection. Finally, some results of evaluative experiments verified the effectiveness of the proposed method for high-performance control and disturbance rejection for the PMSM drive.