A Current- and Speed-Loop Decoupling Controller for SPMSM Under Periodic Disturbances

The current and speed dual-loop control strategy based on field-oriented control for surfaced permanent magnet synchronous motors (SPMSM) is widely applied in high-performance industrial sectors. This paper presents a systematic control framework for SPMSM dual-loop that includes a resonant-model-based extended state observer and a feedback controller. The proposed control framework is shown to achieve decoupling control between servo (speed/current tracking) and regulation (aperiodic and periodic disturbances rejection) for dual-loop, meaning that the disturbance rejection performance can be independently improved without changing the tracking performance. Resonant-model-based extend state observer is proposed to estimate and compensate for both aperiodic and periodic disturbances, and the corresponding feedback controllers are designed for inner current-loop and outer speed-loop. Then, the disturbance rejection systematic analysis method and parameters tuning method are proposed. Compared with the optimal proportional-integral-resonant control and active disturbance rejection control methods, experimental results demonstrate that the proposed control strategy achieves better speed tracking and disturbance rejection performance, decoupling control performance between speed tracking and disturbance rejection, robustness to parameter mismatch, and better periodic disturbance rejection performance.