Active Disturbances Rejection Controller for Position Servo Control of PMSM

In PMSM position servo control system, Active Disturbances Rejection Controller (ADRC) is introduced to meet the requirement of high performance position tracking because of the disadvantages of slow response and large error of traditional PID control. In this paper, the friction damping and load torque are taken as disturbance. The load torque compensation of PMSM is realized with the ADRC, which improves the anti-interference ability of the system. Simulation and experiment results show that this method can improve the response speed of the system, reduce the steady-state error, and effectively suppress the influence of load change on the position-tracking accuracy.