A self-tuning disturbance observer based adaptive speed control for PMSM servo system

A self-tuning disturbance observer based adaptive composite control method is proposed in this paper, to improve the disturbance rejection property for the Permanent-Magnet Synchronous Motor (PMSM) speed regulation problem. The composite controller is composed of an adaptive feedback control and a self-tuning disturbance observer (DOB) based feedforward compensator. Both the parameters of the feedback controller and the self-tuning DOB can be adaptively tuned online by using the parameters identified by the linear adaptive neural network (LANN). The self-tuning DOB is designed to estimate the lumped disturbances, including external disturbances and internal disturbances caused by parameter variations, and can also estimate the disturbances caused by wide range variation of parameters. The effectiveness and validity of the proposed control method are verified by simulation results.