Research of Active Disturbance Rejection Controller Design for PMSM Servo System

Abstract In the permanent magnet synchronous motor (PMSM) speed control system, an improved active disturbance rejection control strategy with higher tracking accuracy for time-varying input is proposed. The traditional active disturbance rejection controller is mainly used for fast and static-free tracking of step signals, but there is a large tracking error for time-varying signals, which limits the application of active disturbance rejection controller. In this paper, the theoretical analysis of the existence of steady-state error is carried out, and then an improved speed active disturbance rejection controller (ADRC) with derivative feedforward and parallel linear extended state observer(P-LESO) is designed to reduce the tracking error of the system. In order to observe and compensate the reverse electromotive force in real time and reduce the current following error, a current loop linear active disturbance rejection controller is designed. By constructing Simulink simulation model for verification, the control system not only improves the tracking accuracy of PMSM for time-varying input, but also has a good dynamic performance for step input.