TV-UDE Based Disturbance Rejection Control for PMSM: A Hardware Solution with EtherCAT

To address the uncertainties arising from unmodeled dynamics and external disturbances, a time-varying uncertainty and disturbance estimator (TV-UDE) based method is proposed in this paper. The method is used in disturbance rejection control for permanent magnet synchronous motor (PMSM). The stability of the proposed method is theoretically analyzed. Note that the fact while high-gain UDE provides better steady-state performance, it also leads to poor transient responses such as peaking phenomena. Motivated by our pervious works, a time-varying UDE is employed in this paper to achieve high-accuracy estimation without sacrificing transient performance. Additionally, an EtherCAT based hardware solution is developed, which differs from traditional PMSM platforms relying conventional buses. The proposed solution features lower communication latency and offers high flexibility and scalability. Experimental results confirm that the proposed TV-UDE achieves high tracking accuracy without transient peaking, demonstrating the method's practical advantages in PMSM control.