Disturbance Observer-Based Backstepping Control of PMSM for the Mine Traction Electric Locomotive

Table 1

Parameters of PMSM.

Parameter	Value
Rated power (kW)	22
Pole pairs	3
Rated voltage (V)	380
Rated current (A)	34.8
Rated speed (r/min)	1160
Rated frequency (Hz)	58
Rated torque (N⋅m)	181
Rotary inertia (kg⋅m^2)	0.21
PM flux (Wb)	0.82
Stator inductance (H)	0.0153
Friction coefficient	0.001