Research on friction disturbance compensation method in low-speed region of permanent magnet synchronous motor

Abstract

In this paper, the instability phenomenon of permanent magnet synchronous motor (PMSM) running in a low-speed region is compensated. Based on the PI control strategy, the friction model is used to compensate for the nonlinear part dominated by friction torque. The Stribeck friction model is used to build the model of system friction. Compensation of linear load disturbance using load observer. The simulation results show that the friction model and the disturbance observer method reduce the influence of friction nonlinearity on the low-speed performance of the system and improve the tracking accuracy and disturbance rejection ability of the system.