二阶扰动观测器实现永磁同步电机电流补偿控制
The second-order disturbance observer compensates the current loop of permanent magnet synchronous motor

永磁同步电机速度伺服系统的电流环存在外部干扰和系统参数摄动，影响了PI控制的性能. 利用系统输出与内模输出误差，设计一种新型的鲁棒内环扰动观测器，来估计系统不确定量补偿量. 在保证系统鲁棒稳定性条件下，设计扰动观测器的动态响应为二阶系统，达到无稳态误差. 实验仿真表明，增加了扰动观测器补偿的PI电流环控制系统，能够很好地抑制电流环中的扰动，减小电流波动，提高电流的跟踪精度.
The external disturbances and parameters variations exist in the current loop of the permanent magnet synchronous motor speed servo system，and they deteriorate the PI control performance. Here，robust disturbance observer is proposed by using the output error between the system and the internal model to estimate the system uncertainties. Under the condition of the system robust stability，the proposed observer has a second-order dynamics and no steady-state error. The experimental simulation shows that the PI current control system with the proposed observer compensation can effectively restrain disturbance，reduce current ripple，and improve the tracking precision of the current