Active Disturbance Rejection Control for Permanent Magnetic Toroidal Motor

The mathematical model for permanent magnetic toroidal motor is established in this paper, which based on the analysis of the structural features and the principle of electromagnetic transmission. The corresponding state equation is derived from the mathematical model. In order to improve the disturbance rejection ability, an active disturbance rejection controller for speed loop and current loop is designed. The controller is applied to perturbation analysis about the performance of the motor under a constant load and a load of a triangle wave respectively. And the control system is built in Simulink for simulation experiment, which achieves a good control effect.