Multiple Disturbance Suppression of IPMSM Drives Based on Embedded Discrete-Time Repetitive ADRC With Optimized Parameter Selection

The active disturbance rejection controller (ADRC) can be integrated with advanced controllers to further improve its current disturbances suppression capability. However, the performance of existing methods would be deteriorated under the multiple specific periodic disturbances of current loop and the improper parameters of ADRC. To fill this gap, an embedded discrete-time repetitive ADRC (EDTR-ADRC) is proposed to suppress multiple frequency current disturbances in this article. First, the dc and low-frequency disturbances can be eliminated by extended state observer (ESO) of ADRC. Then, the discrete-time repetitive controller is embedded into the control law and adopted to extract multiple specific periodic frequencies signals without phase shift. On this basis, the disturbances rejection capability can be improved by EDTR-ADRC. Meanwhile, the parameter selection can be further optimized by combining the amplitude and phase characteristics of ESO to various disturbances. Then, the stability analysis and antidisturbance ability of the proposed method are elaborated in discrete-time domain. Finally, the effectiveness of the proposed method is verified on a 1.0 kW IPMSM setup.