Adaptive Fault-Tolerant Cooperative Optimization Control for PMSM Servo System With Input Saturation and Multisource Disturbances

This article proposes an adaptive fault-tolerant cooperative optimization control strategy for permanent magnet synchronous motor (PMSM) servo system with actuator faults, input saturation, and unknown disturbances. The fault adaptive law and adaptive saturation compensation mechanism are designed to handle the actuator fault and input saturation problems. To enhance the disturbance rejection ability, the time-varying disturbance observer is designed to estimate unknown multisource disturbances. Aiming to achieve fast regulation and accurate tracking of speed, signal, and energy are injected into the ports to determine the behavior of the PMSM control system. By designing a smooth convex combination mechanism, a cooperative optimization control strategy is proposed which fully leveraging the advantages of signal processing-based control and energy transformation-based control. Further, utilizing Lyapunov’s criteria, the stability of the closed-loop system is guaranteed. Finally, the experimental results illustrate the effectiveness of the proposed strategy.