Research on PMSM active disturbance rejection controller based on model compensation

In the permanent magnetic synchronous motor (PMSM) system with active disturbance rejection controller (ADRC), the estimation accuracy of extended state observer (ESO) will decrease when the ADRC does not depend on the system model completely. In order to improve the estimation accuracy, this paper proposes an improved ADRC approach by adding a model compensation term. Furthermore, the rotor inertia and viscous friction coefficient in the model compensation term is identified by the model reference adaptive identification (MRAI) algorithm. The load torque is estimated according to the mechanical equation of PMSM system. Then the identification values of rotor inertia, viscous friction coefficient, and load torque make up the compensation term of the ESO. Simulation results indicate that this improved ADRC approach has the better parameter robustness and anti-load-disturbance performance.

I. Introduction

With the development of science and technology, servo control technology of alternating current (AC) motor has made remarkable progress. PMSM, as a special AC motor, has been widely used in the industrial fields due to its outstanding advantage of rugged construction, easy maintenance, high efficiency, and high torque to current ratio.