A Decoupled ADRC Based on Bode’s Integral for PMSM Current Tracking Without Overshoot

Two critical objectives for permanent magnet synchronous motor (PMSM) current regulating are achieving quick tracking response without overshoot and strong anti-disturbance capacity. However, conventional controller design methods are difficult to meet these requirements due to digital delays and system noise. To address these challenges, a decoupled active disturbance rejection control (D-ADRC) is proposed with a generalized cascade extended state observer (GCESO) and a Bode’s integral formula-based feedback controller for the PMSM current servo. The GCESO compensates for lumped disturbances, while a decoupled feedback controller ensures a rapid tracking response without any overshoot. The design methodology for this proposed controller is presented, and the tracking performance and anti-disturbance robustness are illustrated by a simulation comparison between existing conventional linear active disturbance rejection control and the proposed method.