Research on Self-tuning Fractional Order PID Speed Control of Permanent Magnet Synchronous Motor Based on Torque Observer Compensation

Addressing the conflict between overshoot and response speed present in traditional PID control, fractional order calculus theory is introduced, and a fuzzy fractional order PID control strategy for permanent magnet synchronous motors based on torque observer is proposed. First, a current loop controller based on feedforward decoupling is designed. Then, a fuzzy fractional order PID control is designed, which uses fuzzy reasoning for online tuning of the controller parameters. Additionally, to improve the system's disturbance rejection capability, a Luenberger torque observer is designed to compensate for disturbances. Finally, through comparative simulation experiments with integer-order PID control, sliding mode control, and conventional fractional order PID control, the results show that the proposed strategy not only has better control performance but also robustness to external load disturbances.