A Composite Linear Active Disturbance Rejection Fault Tolerant Controller for a PMSM System in Unbalanced Load Fault: Design and Hardware Implementation

Aiming at the speed fluctuation caused by the unbalanced load fault of the permanent magnet synchronous motor system, a composite active disturbance rejection fault tolerant control method is proposed in this paper. Firstly, the mathematical model of load torque is deduced based on the kinematic analysis of the fault. A model of electromechanical coupling is established with the torque coupling relationship between the motor and load. Secondly, the estimation of the fault model information from a load observer is used to improve the design of extended state observer so the influence of the fault on the performance of the whole control system can be attenuated via the feedforward compensation channel. Finally, a real-time hard-in-the-loop based NI CompactRIO 9045 and LabVIEW for PMSM system is designed to verify and compare the performance of the proposed controller against conventional active disturbance rejection controller. The experiment results demonstrate the effectiveness and superiority of the proposed controller.