Two-Stage Nonlinear Torque Observer-Based Robust Backstepping Speed Control for IPMSM Drives
8th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, ICHORA 2026, Ankara, Türkiye, 21 - 23 Mayıs 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/ichora69329.2026.11537137
- Basıldığı Şehir: Ankara
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: disturbance rejection, integral backstepping, IPMSM, ISS, load torque estimation, Lyapunov stability, two-stage nonlinear extended state observer
- Yıldız Teknik Üniversitesi Adresli: Evet
Özet
This paper proposes a unified observer-controller framework for Interior Permanent Magnet Synchronous Motor (IPMSM) drives to achieve high-accuracy speed regulation under unknown time-varying load torque. A two-stage Nonlinear Extended State Observer (NL-ESO) framework is developed in the mechanical channel: the first stage reconstructs the lumped disturbance and load torque, while an auxiliary nonlinear differentiator provides a filtered estimate of the reconstructed load torque derivative for implementation completeness. The speed and current loops are closed using a Lyapunov-based integral backstepping controller within a cascaded structure. Closed-loop stability is analyzed using a composite Lyapunov function combined with Input-to-State Stability (ISS)-type characterizations of both observer and differentiator errors, establishing uniform ultimate boundedness (UUB) under bounded uncertainty. MATLAB/Simulink results confirm accurate speed tracking, strong disturbance rejection against sudden load changes, and feasible voltage/current demands under SVPWM limits.