Low-Speed Control Strategy of Permanent Magnet Direct Drive Motor Based on Rotor Position Tracking Combined With Disturbance Observation

This article proposes a permanent magnet direct drive motor control strategy based on a combination of rotor position tracking and disturbance observation to suppress speed fluctuations during low-speed operation. Firstly, based on different parameter simulations, it was found that there is a contradiction between robust stability and disturbance rejection in rotor position tracking control. Then, based on the disturbance observer for feedforward current compensation, a composite control strategy for rotor position tracking is established, so as to effectively solve the problem of robust stability degradation caused by rotor position tracking control and improve the anti-interference performance of the system. By introducing a differential link, the traditional reduced order observer is modified to improve its dynamic estimation performance and eliminate the inherent lag of the observer. Finally, the experimental results show that the control strategy has good disturbance suppression performance and steady-state tracking performance, especially in high disturbance and low speed situations, which can achieve high-precision operation.