Permanent magnet synchronous motor time-varying nonlinear disturbance observer and current constraint control method

The invention discloses a permanent magnet synchronous motor time-varying nonlinear disturbance observer and a current constraint control method, and relates to the technical field of permanent magnet synchronous motor control methods. A time-varying nonlinear disturbance observer is adopted to realize accurate observation of disturbance and reduce the influence of mismatched disturbance and too high initial estimation peak on a system, and a permanent magnet synchronous motor rotating speed controller based on an integral sliding mode is adopted to solve the problems of poor system robustness and current over-limit when a PI controller is applied to a non-cascade structure. The control system is simple in structure, easy to implement, high in robustness and few in control system design parameters, has the advantages of being high in rotating speed response speed and small in rotating speed pulsation, guarantees the robustness of the system while restraining the initial peak value of the current, and effectiv