Parametric uncertainties and inverter nonlinearity exist in the permanent magnet synchronous motor (PMSM) drive system, which may lead to performance degradation or failure of model-based control. This paper presents an enhanced model-free synergetic control method for PMSMs, addressing the limitations of relying on accurate motor models in existing speed control strategies. The proposed approach aims to achieve robust control performance in the presence of parameter perturbations without the need for an accurate motor model. Firstly, a new ultra-local model of the speed loop for the PMSM is established based on a newly developed ultra-local theory. Subsequently, a model-free synergetic controller is designed using the principles of synergetic control theory. To address the issue of output chattering in the sliding mode observer used to estimate the unknown part of the ultra-local model, a synergetic observer method is proposed. Simulation results are presented and compared with those obtained using a proportional-integral (PI) controller and a conventional model-free sliding mode controller. The results demonstrate that the model-free synergetic controller exhibits robust performance and provides accurate estimation of the unknown part without output chattering.

中文翻译：

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使用未知输入观测器改进永磁同步电机无模型协同控制

永磁同步电机（PMSM）驱动系统中存在参数不确定性和逆变器非线性，可能导致基于模型的控制性能下降或失败。本文提出了一种增强型永磁同步电机无模型协同控制方法，解决了现有速度控制策略中依赖精确电机模型的局限性。所提出的方法旨在在存在参数扰动的情况下实现鲁棒的控制性能，而不需要精确的电机模型。首先，基于新发展的超局部理论，建立了永磁同步电机速度环的新超局部模型。随后，利用协同控制理论的原理设计了无模型协同控制器。为了解决用于估计超局部模型未知部分的滑模观测器中的输出抖振问题，提出了一种协同观测器方法。给出了仿真结果，并与使用比例积分 (PI) 控制器和传统无模型滑模控制器获得的结果进行了比较。结果表明，无模型协同控制器表现出鲁棒的性能，并提供未知部分的准确估计，而没有输出颤振。