Second-Order Nonlinear Disturbance Observer Based Adaptive Disturbance Rejection Control for PMSM in Electric Vehicles

In this paper, a high-performance nonlinear control technique is presented to address the robust anti-disturbance speed tracking problem for permanent magnet synchronous motors (PMSM) in electric vehicles. In the first step, the dynamic model of PMSM is established, and the controller is designed based on backstepping control. Additionally, consider eliminating the differential noise of the virtual controller and approving the virtual control rate and its derivative through the command filter in order to avoid complicated high-order derivatives. Then, based on the PMSM model, an improved model reference adaptive system (MRAS) is proposed to account for unknown parameter perturbation. Besides, in order to improve the anti-interference capability of the system during operation, a second-order nonlinear disturbance observer model is developed, and the robustness of the system is improved by combining the model with linear sliding mode control. Finally, the stability of the system is established using Lyapunov stability criteria, and the hardware-in-the-loop platform is established to demonstrate that the controller in this paper has excellent anti-interference abilities and robustness.