基于全驱系统理论的永磁同步电机连续时变抗扰控制OA

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.