Adaptive Conditional Disturbance Negation-Based Nonsmooth-Integral Control for PMSM Drive System

Disturbances of the permanent magnet synchronous motor (PMSM) drive system are usually observed and fully compensated to improve the robustness in existing two-degrees-of-freedom control schemes. However, these schemes neglect the potential advantages of the disturbances that have not been well investigated yet. To this end, this article proposes a new adaptive conditional disturbance negation (ACDN)-based control scheme for the PMSM drive system to enhance the performance by exploiting the potential advantages of the disturbances. The proposed scheme can utilize advantageous disturbances and negate detrimental disturbances, achieving better dynamic performance and robustness. First, a generalized supertwisting extended state observer with continuous right-hand sides is designed for disturbance estimation, which realizes precise estimation within a finite time. On this basis, a unique ACDN governor is constructed by developing a disturbance characterization indicator that indicates whether the estimated disturbance is advantageous or detrimental. Besides, an efficient and straightforward nonsmooth-integral controller is designed to collaborate with the ACDN governor via two complementary nonsmooth terms and integral. Finally, rigorous stability analysis and experimental results demonstrate the feasibility and superiority of the proposed control scheme.