PMSM non-cascade model-free robust fault-tolerant control algorithm based on hybrid cascade ESO

The invention discloses a hybrid cascade ESO-based PMSM non-cascade model-free robust fault-tolerant control algorithm, and the algorithm comprises the steps: S1, constructing a PMSM mathematical model considering parameter perturbation, and combining a speed loop with a q-axis current loop, so as to establish a second-order state equation of a non-cascade structure of a PMSM drive system; s2, based on the second-order state equation in the S1, establishing a second-order super-local model of the non-cascade structure of the PMSM driving system; s3, designing a PMSM composite ring model-free terminal sliding mode fault-tolerant controller considering the current constraint; and S4, carrying out accurate estimation on the total disturbance in the second-order super-local model in the S2 by adopting a hybrid cascade ESO, and carrying out feedforward compensation on an observation value to a controller so as to realize fault-tolerant control on PMSM parameter mismatch and external disturbance. In conclusion, the