关键词: 永磁同步电机, 扩张状态观测器, 两相幂次吸引律, 位置-速度一体化控制, 有限时间

Abstract: In order to improve the dynamic response and load disturbance resistance of the position control of a permanent magnet synchronous motor (PMSM) servo system, a two-phase power attraction control method based on a finitetime extended state observer was proposed. To address the contradiction between overshoot and fast convergence in thetraditional three-loop PID control, a two-phase power attraction law with position error scalarization was proposed, and a position-speed integrated controller was designed based on this attraction law to achieve fast position tracking performance without overshoot. A finite-time extended state observer was designed based on the homogeneous theory and Lyapunov
stability theory. Simulation and experimental results show that this method had fast convergence, overshoot-free position tracking characteristics and strong resistance to external disturbances compared with traditional PID control and linear extended state observer.

Key words: permanent magnet synchronous motor ( PMSM ), extended state observer ( ESO ), two-phase power attraction law, position-speed integrated control, finite time