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A Fractional-Order ADRC Architecture for a PMSM Position Servo System with Improved Disturbance Rejection

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This paper proposes an active disturbance rejection control (ADRC) architecture for a permanent magnet synchronous motor (PMSM) position servo system. The presented method achieved enhanced tracking and disturbance rejection performance with a limited observer bandwidth. The model-aided extended state observer (MESO)-based ADRC was designed for the current, speed, and position loops of the PMSM position servo system. By integrating known plant information, the MESO improved disturbance estimation with a limited observer bandwidth without amplifying the noise. Additionally, a fractional-order proportional-derivative (FOPD) controller was designed as the feedback controller for the speed loop to further enhance the disturbance rejection. A simulation and experimental tests were conducted on a PMSM servo platform. The results demonstrate not only that the proposed method achieved superior tracking performance but also that the position error of the proposed strategy decreases to 2.25% when the constant disturbance was input, significantly improving the disturbance rejection performance.
Title: A Fractional-Order ADRC Architecture for a PMSM Position Servo System with Improved Disturbance Rejection
Description:
This paper proposes an active disturbance rejection control (ADRC) architecture for a permanent magnet synchronous motor (PMSM) position servo system.
The presented method achieved enhanced tracking and disturbance rejection performance with a limited observer bandwidth.
The model-aided extended state observer (MESO)-based ADRC was designed for the current, speed, and position loops of the PMSM position servo system.
By integrating known plant information, the MESO improved disturbance estimation with a limited observer bandwidth without amplifying the noise.
Additionally, a fractional-order proportional-derivative (FOPD) controller was designed as the feedback controller for the speed loop to further enhance the disturbance rejection.
A simulation and experimental tests were conducted on a PMSM servo platform.
The results demonstrate not only that the proposed method achieved superior tracking performance but also that the position error of the proposed strategy decreases to 2.
25% when the constant disturbance was input, significantly improving the disturbance rejection performance.

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