Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer

摘要

The speed regulation problem for permanent magnet synchronous motor (PMSM) servo system is studied in this paper. In order to optimize the control performance of the PMSM servo system, the predictive functional control (PFC) method is introduced in the control design of speed loop. The PFC-based speed control design consists of two steps. A simplified model is employed to predict the future $q$ -axis current of PMSM. Then, an optimal control law is obtained by minimizing a quadratic performance index. However, it is noted that the standard PFC method does not achieve a satisfying effect in the presence of strong disturbances. To this end, an improved PFC method, called the PFC+ESO method, is developed. It introduces extended state observer (ESO) to estimate the lumped disturbances and adds a feedforward compensation item based on the estimated disturbances to the PFC speed controller. Simulation and experiment comparisons are made for these PFC methods and proportional-integral method with antiwindup control method to verify the effectiveness of the proposed methods.