Speed Tracking Control of PMSM Using Adaptive Extended Harmonic State Observer

This paper investigates the speed tracking control issue of a permanent magnet synchronous motor (PMSM). A speed tracking controller based on an adaptive extended harmonic state observer and an extended state observer is proposed under the PMSM non-cascaded structure to suppress multiple disturbances and improve the speed tracking performance. Specifically, an adaptive extended harmonic state observer is designed to estimate mismatched periodic and mismatched aperiodic disturbances with uncertain frequencies, and another extended state observer is developed to estimate matched disturbances. Based on the disturbance estimates, a linear feedback controller is designed to solve the PMSM speed tracking problem under matched and mismatched disturbances. Finally, the effectiveness of the proposed control scheme is verified by the simulation study.