Permanent magnet synchronous motor servo system with adaptive observer

In the permanent magnet synchronous motor servo system, as the motor nonlinearity, strong coupling, parameters variability, and hydraulic systems nonlinear factors such as leaks, Coulomb friction and the uncertainty of the load force, output torque of the motor is interfered with the large random disturbances, and the system suffers from serious dynamic nonlinearity. Adaptive observer is adopted to carry the load torque adaptive control by the estimation error, improve the dynamic performance, and increase disturbance restraint performance. Using Lyapunov stability theory analyses convergence conditions and proves the system stability. The system simulation experiment shows that the control method has strong robustness on parameters variation and random disturbance.