Application of an Improved ADRC Controller Based on the Double Closed Loop Dynamic Disturbance Compensation in PMSM

In view of the contradiction between speed and overshoot caused by PI control strategy for PMSM in the industrial field, and the characteristics of most ADRC controllers are not quite adaptable in the absence of model, in this paper, a model-aided ADRC based on on-line parameter identification is proposed, which can accurately compensate the disturbance based on the model when the motor parameters change. In view of the fact that most ADRC strategies are used in single loop control of current loop or velocity loop, a dual loop ADRC controller based on parameter identification is proposed in this paper. The parameters of stator resistance, stator inductance and moment of inertia are identified online by using MRAS and Landau iteration algorithm, and the dynamic compensation of ADRC is carried out in real time. This strategy can deal with the problem of sudden change and stability decline caused by sudden disturbance and parameter change.