Disturbance observer-based backstepping control for permanent magnet synchronous motor

In this paper, consider the effect of the load inertia fluctuation for surface-mounted permanent magnet synchronous motor (SPMSM), the problem of dynamic response of SPMSM is studied. A backstepping control algorithm based on disturbance observer (DO) is proposed. Firstly, according to the equation of motor speed, the minimum-order observer is established to observe the disturbance value of load inertia, Furthermore, using the estimated disturbance value to identify the load inertia. Then, the backstepping controller based on the identification results is designed to achieve the position tracking control of SPMSM. Finally, simulation results show the effectiveness of the proposed algorithm.