The speed regulation problem of permanent magnet synchronous motor system is investigated under a noncascade structure. Despite its superiority in straightforward control design, simple parameter adjustment, and satisfying system dynamic performance, the structure brings two problems: the overcurrent protection and unmatched disturbance rejection. Under this structure, the current cannot any more be restricted by a reference value, and ought to be constrained within a certain range to ensure the circuit safety. Besides, unmatched disturbances, mainly caused by external load torques, may result in undesired interference and violate the constraint requirement, since they affect the current directly via the same channel. Toward that end, a novel current-constrained control algorithm is designed to tackle the current constraint and unmatched disturbances simultaneously. A disturbance observer (DOB) is utilized for unmatched disturbance estimation. A constraint coping mechanism is constructed to restrict the current. Then, a key nonlinear item is proposed by augmenting the disturbance estimation and the constrained current. Finally, a composite controller is proposed with concise structure and rigorous closed-loop stability analysis. Numerical and experimental tests further validate that the proposed control approach achieves promising speed tracking performance and guarantees the current constraint in the presence of unmatched disturbances.

中文翻译：

---

基于干扰观测器的电流约束控制器，用于对遭受无与伦比干扰的 PMSM 系统进行速度调节


研究非级联结构下永磁同步电机系统的调速问题。尽管其控制设计简单、参数调整简单、满足系统动态性能等优点，但该结构也带来了两个问题：过流保护和抗干扰能力不强。在这种结构下，电流不能再受参考值的限制，而应该被限制在一定的范围内，以保证电路的安全。此外，主要由外部负载扭矩引起的不匹配干扰可能会导致不期望的干扰并违反约束要求，因为它们直接通过同一通道影响电流。为此，设计了一种新颖的电流约束控制算法来同时解决电流约束和不匹配的干扰。扰动观测器 (DOB) 用于进行不匹配的扰动估计。构建约束应对机制来限制电流。然后，通过增强扰动估计和约束电流提出了一个关键的非线性项。最后，提出了一种结构简洁、闭环稳定性分析严格的复合控制器。数值和实验测试进一步验证了所提出的控制方法实现了有希望的速度跟踪性能，并保证了存在不匹配干扰时的电流约束。