ADRC Controller Based on Improved ESO for Rapid Dynamic Response of PMSM

In the control of Permanent Magnet Synchronous Motor (PMSM), Active Disturbance Rejection Control (ADRC) has been widely concerned because of its inherent disturbance rejection ability. However, the existing active disturbance rejection method has good tracking performance on step load, but not satisfactory on continuously changing disturbance. In order to improve the dynamic response of PMSM to continuously changing disturbance, a control scheme based on multi-order disturbance Extended State Observer (ESO) is proposed. Firstly, the tracking performance of the multi-order disturbance ESO has been analyzed for continuously changing disturbance. After that, the transfer function of disturbance observation error is derived and compared with conventional ESO. The ADRC scheme with multi-order disturbance ESO and ADRC scheme with conventional ESO are applied in a PMSM controller by simulation and experiments to be verified.