Robust Adaptive Resonant Control Strategy for Flexible Joint Surface Permanent Magnet Synchronous Motors

To reduce the parameter sensitivity of Flexible Joint Permanent Magnet Synchronous Motors (FJ-PMSMs), a robust adaptive resonant control strategy is proposed in this paper. The robustness and overall performance of traditional adaptive resonant controllers are often compromised by their high sensitivity to aperiodic disturbances such as load torque, motor parameters, and friction torque. To address these issues, the proposed strategy uses a Linear Extended State Observer (LESO) to accurately estimate and compensate for the disturbance effects. The proposed control strategy dynamically compensates for magnetic flux linkage variations and implements real-time parameter estimation, effectively mitigating the adverse effects of motor parameter drift on control system performance. The effectiveness of the control strategy is verified by experiments. The speed fluctuation of the motor is reduced by about 20%, and its control performance is better than that of the traditional resonant controller.