Aiming at some problems of the permanent magnet synchronous motor (PMSM) control system

such as nonlinear

parameter uncertainty and external disturbance

an auto-coupling PI(ACPI) control method was proposed based on the auto-coupling PID(ACPID) control theory. In this way

the discovery or un discovery internal dynamics of the velocity loop and the d-q axis current loop in the PMSM system are defined as three total perturbations respectively

and an ACPI theoretical controller is designed in the velocity loop of the PMSM system to obtain the q axis virtual current instruction

so that the nonlinear uncertain underdriven system is equivalent to the linear perturbation system with virtual full drive. Therefore

an ACPI controller model based on velocity factor is designed. In the complex frequency domain

at the same time

the excellent robustness and disturbance rejection robustness are proved. The simulation and experimental results verify that the ACPI control method has excellent robustness

disturbance-rejection robustness

response speed and stationary performance.