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Double-Nonlinear-Disturbance-Observer-Based Funnel Control for Permanent-Magnet Synchronous Motors
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DOI：10.1109/JESTIE.2025.3647268.png)
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Abstract
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This article proposes an interconnected double nonlinear disturbance observer (DNDO)-based funnel controller for noncascade control structure permanent-magnet synchronous motors. In a noncascade control structure, the disturbance in the current loop is not matched, and it has a negative impact on the system performance and stability. To overcome this problem, an interconnected DNDO is designed to deal with the mismatch disturbance. Then, a novel nonlinear funnel error surface is proposed, which is based on improved fixed-time performance functions that ensure tracking error evolution. The DNDO incorporates with the funnel error surface to design a funnel controller that improves the tracking performance of the system. In addition, a current constraint scheme for the noncascade controller is designed. Then, the stability of the closed system under the presented control strategy is guaranteed by the Lyapunov stability theory. Finally, the effectiveness and practicability of the developed method is validated by using the comparative simulations and experiments.
Keywords:
Disturbance observers
Stability criteria
Permanent magnet motors
Periodic structures
Mathematical models
Hands
Estimation error
Convergence
Vehicle dynamics
Uncertainty
Current constraint
double nonlinear disturbance observer (DNDO)
funnel control (FC)
noncascade control structure permanent-magnet synchronous motor (PMSM)
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