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A speed loop optimization strategy based on cascaded extended state observer (ESO) is proposed to address the insufficient transient response of permanent magnet synchronous motor (PMSM) for steering power oil pump application in pure electric commercial vehicles. An extended Kalman filter (EKF) is designed as the basis of position sensorless control, with the adaptive design to avoid the problems of complicated parameter tuning and slow convergence. The antidisturbance and tracking ability of the speed loop is improved by the cascaded observation of internal and external disturbances, and the use of the linear state error feedback control rate (LSEFC) for replacement of the traditional PI controller. The bench tests show that the sensorless control scheme proposed in this paper significantly reduces the position estimation error under dynamic and steadystate conditions, with a steadystate error of only 1.4°. The optimized speed loop control effectively improves the system's performance of disturbance rejection and transient response. The reliability test shows that the steering power motor controller operates stably without performance failure.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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