自动化学报2026，Vol.52Issue(6)：1279-1290,12.DOI:10.16383/j.aas.c250527
基于全驱系统理论的永磁同步电机连续时变抗扰控制
Continuous Time-varying Disturbance-rejection Control of Permanent Magnet Synchronous Motor Based on Fully Actuated System Theory
摘要
Abstract
A continuous time-varying control method based on fully actuated system(FAS)theory is proposed to address control challenges caused by parameter uncertainty,external disturbances,and incomplete constraint char-acteristics in permanent magnet synchronous motor systems.First,the speed error dynamic model undergoes differ-ential analysis and is transformed into a second-order FAS form with q-axis voltage as input.Then,an optimal con-trol law incorporating a proportional-integral term is designed to actively shape closed-loop dynamics.A nonlinear disturbance observer is introduced for real-time estimation and feedforward compensation of lumped disturbances.Furthermore,based on Lyapunov stability theory,it is proven that the designed closed-loop system achieves uni-formly ultimately bounded stability under time-varying disturbances and exhibits global asymptotic stability when disturbance rates are zero.Finally,a systematic parameter tuning procedure is presented,directly relating control-ler and observer parameters to desired performance metrics such as response speed and damping characteristics.The results show that the proposed control method can quickly and smoothly converge the system state to the expected value,and exhibits good tracking performance and disturbance-rejection ability under different operating conditions,verifying the effectiveness and practicality of the proposed method.关键词
永磁同步电机/全驱系统理论/连续时变控制/非线性扰动观测器/Lyapunov稳定性理论Key words
permanent magnet synchronous motor/fully actuated system theory/continuous time-varying control/nonlinear disturbance observer/Lyapunov stability theory引用本文复制引用
王东亨,李兵强,周素莹,武涵,曹明明..基于全驱系统理论的永磁同步电机连续时变抗扰控制[J].自动化学报,2026,52(6):1279-1290,12.基金项目
陕西省杰出青年科学基金(2022JC-32),陕西省自然科学基础研究计划资助项目(2025JC-YBMS-546),西北工业大学博士论文创新基金(CX2025084)资助 Supported by Shaanxi Science Fund for Distinguished Young Scholars(2022JC-32),Natural Science Basic Research Program of Shaanxi(2025JC-YBMS-546),and Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University(CX2025084) （2022JC-32）
