Apparatus and method for controlling permanent magnet synchronous motor, and storage medium storing instructions to perform method for controlling permanent magnet synchronous motor

A method for controlling a permanent magnet synchronous motor in a permanent magnet synchronous motor system by a control unit in a permanent magnet synchronous motor system, the method comprising:

• calculating an adaptive convergence gain, position error, and a first virtual control signal by the control unit when an input signal is input to the permanent magnet synchronous motor in the permanent magnet synchronous motor system;
• calculating a first difference between the first virtual control signal and an actual control signal and calculating a second virtual control signal based on the first difference and a concentrated disturbance of the permanent magnet synchronous motor system estimated by a nonlinear disturbance observer circuit unit;
• calculating a second difference between the second virtual control signal and the actual control signal and calculating a first sliding-mode surface function and a voltage control signal of a Quadrature-axis (Q-axis) based on the second difference;
• and
• calculating a third difference between a third virtual control signal based on the voltage control signal of the Q-axis and the actual control signal and calculating a second sliding-mode surface function and a voltage control signal of a Direct-axis (D-axis) based on the third difference.

A non-transitory computer readable storage medium storing computer executable instructions, wherein the instructions, when executed by a processor, cause the processor to perform a method for controlling a permanent magnet synchronous motor in a permanent magnet synchronous motor system, the method comprising:

• calculating an adaptive convergence gain, position error, and a first virtual control signal by the control unit when an input signal is input to the permanent magnet synchronous motor in the permanent magnet synchronous motor system;
• calculating a first difference between the first virtual control signal and an actual control signal and calculating a second virtual control signal based on the first difference and a concentrated disturbance of the permanent magnet synchronous motor system estimated by a nonlinear disturbance observer circuit unit;
• calculating a second difference between the second virtual control signal and the actual control signal and calculating a first sliding-mode surface function and a voltage control signal of a Quadrature-axis (Q-axis) based on the second difference;
• and
• calculating a third difference between a third virtual control signal based on the voltage control signal of the Q-axis and the actual control signal and calculating a second sliding-mode surface function and a voltage control signal of a Direct-axis (D-axis) based on the third difference.