Speed Control for PMSM Servo System Using Model Reference Adaptive Control and Extended State Observer

In this paper, the speed regulation problem for permanent synchronous motor (PMSM) system under vector control framework is studied. A model reference adaptive controller (MRAC) based on Lyapunov stability theory is first designed. Noticing the standard MRAC method provides a poor disturbance rejection performance in the case of strong disturbances, a composite control method which combines MRAC method and disturbance estimation method, called the MRAC+ESO method, is proposed. An extended state observer (ESO) is introduced to estimate the lumped disturbances. The obtained estimated value acts as a feedforward compensation term to the MRAC controller. The stability analysis of the composite control method is given. Simulation and experimental comparison are presented to show the effectiveness of the proposed control method.