Control method of permanent magnet synchronous motor for driving spiral springs with integrated suppression of multi-source harmonics

Spiral spring energy storage (SSES) is a novel and promising physical energy storage technology proposed recently. Aiming at the issue of multi-source harmonics in SSES system, a control method of permanent magnet synchronous motor (PMSM) for driving spiral springs with integrated suppression of multi-source harmonics is presented. First, a mathematical model is established for the PMSM in the stator current vector-oriented coordinate system, using motor speed harmonics to characterize multi-source harmonics existing in mechanical and electrical sides. Subsequently, an improved matrix pencil method, which integrates singular value difference with structured target rank approximation techniques, is proposed as a harmonic extraction algorithm. This algorithm not only accurately captures information on multi-source harmonics but also effectively eliminates noise. Finally, for the integrated suppression of multi-source harmonics, a harmonic current controller is designed based on backstepping control. Simulation and experimental results demonstrate that the proposed harmonic extraction algorithm precisely identifies and extracts multiple harmonic components in the speed signal. The designed PMSM control algorithm reduces the electromagnetic torque ripples and speed fluctuations caused by harmonics effectively, thereby enhancing the operational performance of the SSES system.