{"id":"https://openalex.org/W4386072076","doi":"https://doi.org/10.1109/icma57826.2023.10215642","title":"Research on Robust Current Control Algorithm for Permanent Magnet Synchronous Motor Based on Extended State Observer","display_name":"Research on Robust Current Control Algorithm for Permanent Magnet Synchronous Motor Based on Extended State Observer","publication_year":2023,"publication_date":"2023-08-06","ids":{"openalex":"https://openalex.org/W4386072076","doi":"https://doi.org/10.1109/icma57826.2023.10215642"},"language":"en","primary_location":{"id":"doi:10.1109/icma57826.2023.10215642","doi":"https://doi.org/10.1109/icma57826.2023.10215642","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icma57826.2023.10215642","pdf_url":null,"source":{"id":"https://openalex.org/S4363607832","display_name":"IEEE International Conference on Mechatronics and Automation (ICMA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115594458","display_name":"Xiaofei Ding","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofei Ding","raw_affiliation_strings":["Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bin Qi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Qi","raw_affiliation_strings":["Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100385138","display_name":"Bowen Zhang","orcid":"https://orcid.org/0000-0002-3581-9476","observed_orcids":["https://orcid.org/0000-0002-3581-9476"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bowen Zhang","raw_affiliation_strings":["Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Khuram Shahzad","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Khuram Shahzad","raw_affiliation_strings":["Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084153714","display_name":"Songyuan Zhang","orcid":"https://orcid.org/0000-0001-9837-098X","observed_orcids":["https://orcid.org/0000-0001-9837-098X"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyuan Zhang","raw_affiliation_strings":["Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology 92 Xidazhi Street,State Key Laboratory of Robotics and System,Harbin,China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology 92 Xidazhi Street, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11335066,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"33","issue":null,"first_page":"802","last_page":"806"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10504","display_name":"Sensorless Control of Electric Motors","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10504","display_name":"Sensorless Control of Electric Motors","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.002400000113993883,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.0015999999595806003,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/permanent-magnet-synchronous-motor","display_name":"permanent magnet synchronous motor","score":0.996999979019165},{"id":"https://openalex.org/keywords/extended-state-observer","display_name":"extended state observer","score":0.9100000262260437},{"id":"https://openalex.org/keywords/robust-current-control","display_name":"robust current control","score":0.8569999933242798},{"id":"https://openalex.org/keywords/predictive-current-control","display_name":"predictive current control","score":0.9300000071525574},{"id":"https://openalex.org/keywords/quadruped-robot","display_name":"quadruped robot","score":0.9950000047683716},{"id":"https://openalex.org/keywords/disturbance-estimation","display_name":"disturbance estimation","score":0.625},{"id":"https://openalex.org/keywords/current-control-loop","display_name":"current loop control","score":0.5450000166893005},{"id":"https://openalex.org/keywords/pi-controller-comparison","display_name":"PI controller comparison","score":0.6710000038146973}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8789924383163452},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6644671559333801},{"id":"https://openalex.org/C123414225","wikidata":"https://www.wikidata.org/wiki/Q1422221","display_name":"Current loop","level":3,"score":0.6601961255073547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5680381655693054},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.5573124289512634},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5022714138031006},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.48098671436309814},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4497414529323578},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.4493124186992645},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4488508999347687},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4436684548854828},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4414345622062683},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.42773962020874023},{"id":"https://openalex.org/C2986944758","wikidata":"https://www.wikidata.org/wiki/Q845675","display_name":"Permanent magnet synchronous motor","level":3,"score":0.42262402176856995},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35226118564605713},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28325504064559937},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20019936561584473},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09243682026863098},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08160650730133057},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icma57826.2023.10215642","doi":"https://doi.org/10.1109/icma57826.2023.10215642","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icma57826.2023.10215642","pdf_url":null,"source":{"id":"https://openalex.org/S4363607832","display_name":"IEEE International Conference on Mechatronics and Automation (ICMA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2020752789","https://openalex.org/W2031801605","https://openalex.org/W2043199747","https://openalex.org/W2080854062","https://openalex.org/W2102358123","https://openalex.org/W2132676667","https://openalex.org/W2135728480","https://openalex.org/W2136826631","https://openalex.org/W2151142962","https://openalex.org/W2367056939","https://openalex.org/W2389394763"],"related_works":["https://openalex.org/W2389394763","https://openalex.org/W3094181227","https://openalex.org/W4411996743","https://openalex.org/W4387653870","https://openalex.org/W7221575151","https://openalex.org/W4286377457","https://openalex.org/W1674681553","https://openalex.org/W2802147338","https://openalex.org/W3113761373","https://openalex.org/W4383874921"],"abstract_inverted_index":{"High-performance":[0],"servo":[1,23,39,155],"joints":[2],"are":[3,135],"the":[4,18,22,33,37,57,64,67,77,92,118,122,140,147,150,154],"basis":[5],"for":[6,49],"quadruped":[7],"robots":[8],"to":[9,62,86,90],"have":[10],"excellent":[11,110],"motion":[12],"performance.":[13],"The":[14],"current":[15,46,68,72,106,128,151],"loop":[16,20,152],"is":[17],"innermost":[19],"of":[21,36,66,79,94,127,149],"system,":[24],"and":[25,101,125,145],"its":[26],"control":[27,34,47,73,95,107],"effect":[28,35],"on":[29,56,76,97,142],"torque":[30],"directly":[31],"determines":[32],"entire":[38],"system.":[40,156],"This":[41,82],"paper":[42,83],"proposes":[43],"a":[44],"robust":[45],"algorithm":[48],"permanent":[50],"magnet":[51],"synchronous":[52],"motors":[53],"(PMSM)":[54],"based":[55],"extended":[58],"state":[59],"observer":[60],"(ESO)":[61],"improve":[63],"performance":[65,112],"loop.":[69],"Traditional":[70],"predictive":[71,105],"relies":[74],"more":[75,109],"accuracy":[78],"model":[80,98,132,143],"parameters.":[81,99],"uses":[84],"ESO":[85,119],"obtain":[87],"unknown":[88],"disturbances":[89],"reduce":[91],"dependence":[93,141],"effects":[96],"Simulation":[100],"experiments":[102],"show":[103],"that":[104],"has":[108],"dynamic":[111],"than":[113],"PI":[114],"control.":[115],"After":[116],"adding":[117],"compensation":[120],"link,":[121],"static":[123],"error":[124,134],"oscillation":[126],"caused":[129],"by":[130],"controller":[131],"parameter":[133],"effectively":[136],"eliminated,":[137],"significantly":[138],"reducing":[139],"parameters":[144],"improving":[146],"robustness":[148],"in":[153]},"counts_by_year":[],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2023-08-23T00:00:00"}
