基于比例积分重复极点优化型扩张状态观测器的永磁同步电机自抗扰电流控制方法

doi:10.19595/j.cnki.1000-6753.tces.2026-0029

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Abstract Permanent magnet synchronous motors (PMSMs) have been widely employed in advanced industrial servo systems due to their high power density, torque density, and torque-to-inertia ratio. The current loop of PMSMs is subjected to multiple disturbance sources, including constant disturbances from parameter mismatches and periodic disturbances induced by permanent magnet flux harmonics and inverter nonlinear voltage errors. Both types of disturbances adversely affect the steady-state performance of the current. Existing active disturbance rejection (ADR) current control methods introduce a repetitive controller into the extended state observer (ESO), resulting in a proportional-integral-repetitive ESO (PIR-ESO), which can simultaneously suppress constant and periodic disturbances. However, due to the incorporation of the repetitive controller, undesirable closed-loop poles located near the unit circle boundary are introduced into the closed-loop system. Consequently, a tradeoff arises between system stability margin and disturbance rejection capability; periodic disturbance suppression performance is sacrificed to guarantee system stability.
This paper proposes an ADR current control method based on a proportional-integral-repetitive pole- optimization ESO (PIR-PO-ESO). By introducing a pole-optimization mechanism into the PIR-ESO, the proposed PIR-PO-ESO eliminates the undesirable closed-loop poles near the unit circle boundary caused by the repetitive control term. Therefore, by retaining the capability of existing ADR current control methods and suppressing constant and periodic disturbances, the proposed method avoids the reduction of stability margin resulting from closed-loop poles approaching the unit circle boundary. The disturbance rejection performance of the proposed method is demonstrated through the Bode plots of the transfer function characterizing the disturbance rejection capability. The system stability is proved by analyzing the distribution of closed-loop characteristic roots. As a result, the proposed method can simultaneously improve the stability margin and disturbance rejection performance of the current control system.
Hardware experiments are conducted on a 500 W surface-mounted PMSM platform. The proposed PIR- PO-ESO-based ADR current control method is compared with existing PI-ESO-based and PIR-ESO-based ADR current control methods under current steady-state operation, speed and load variations, motor parameter mismatches, and controller parameter variations, focusing on current ripple amplitude, harmonic content, and stability margin. Experimental results demonstrate that: (1) the proposed method effectively eliminates the undesirable poles located near the unit circle boundary and significantly enlarges the adjustable ranges of repetitive-control parameters, with the average tuning range of Q increased by approximately 10.5% and that of k_rc increased by approximately 85%, respectively; (2) the proposed method achieves strong periodic disturbance suppression without compromising system stability. An average reduction is approximately 30% in phase-current total harmonic distortion; and (3) The proposed method exhibits excellent dynamic/steady-state performance and strong robustness against parameter variations, showing great potential for engineering applications.

Key words： Permanent magnet synchronous motor active disturbance rejection current control extended state observer periodic disturbance rejection stability margin

Received: 08 January 2026

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TM352

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