An improved adaptive sliding mode controller (ASMC) based on a combined state/disturbance observer (CSO) is proposed for the high-performance control of permanent magnet synchronous motor (PMSM). In order to estimate the unknown state and the disturbance including the parameter uncertainty and the external disturbance, the CSO is proposed. Different from the extended state observer (ESO) or generalized ESO (GESO), the CSO uses the linear combination of the extended high-order states to construct the new estimation. The CSO resolves the contradiction between the estimation accuracy and the noise insensitivity, so it is more applicable to time-varying disturbances. Then, the CSO and the ASMC are integrated in the PMSM speed controller by the feed-forward compensation to enhance the system robustness. A simple nonlinear adaptive law is presented to solve the unknown upper bound of the estimation error and minimize the chattering. The theoretical analysis shows that the global stability of the closed-loop system is strictly guaranteed. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed control method.

中文翻译：

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基于组合状态/干扰观测器的永磁同步电机抗扰控制的自适应滑模控制

提出了一种基于组合状态/干扰观测器 (CSO) 的改进自适应滑模控制器 (ASMC)，用于永磁同步电机 (PMSM) 的高性能控制。为了估计未知状态和扰动，包括参数不确定性和外部扰动，提出了CSO。与扩展状态观测器 (ESO) 或广义 ESO (GESO) 不同，CSO 使用扩展高阶状态的线性组合来构建新的估计。CSO 解决了估计精度和噪声不敏感之间的矛盾，因此更适用于时变扰动。然后，通过前馈补偿将 CSO 和 ASMC 集成到 PMSM 速度控制器中，以增强系统的鲁棒性。提出了一种简单的非线性自适应律来解决估计误差的未知上限并最小化抖动。理论分析表明，闭环系统的全局稳定性得到严格保证。仿真和实验结果证明了所提出的控制方法的有效性。