Developing a Unified Framework for PMSM Speed Regulation: Active Disturbance Rejection Control via Generalized PI Control

With the growing demand for advanced control algorithms in permanent magnet synchronous motor (PMSM) speed regulation, active disturbance rejection control (ADRC) has garnered significant attention for its simplicity and effectiveness as an alternative to traditional proportional-integral (PI) controllers. However, two key challenges limit its broader application: the lack of an intuitive equivalence analysis that highlights the advantages of ADRC over PI control and the complexity in selecting appropriate extended state observer (ESO) structures within ADRC. To address these issues, this paper develops an equivalent model of ADRC based on the structure of a generalized PI controller, offering a clearer understanding of its operational principles. The results demonstrate the relationship between ADRC and generalized PI control while highlighting ADRC’s superior capabilities. Additionally, this paper constructs a generalized model that incorporates all ADRC observer configurations, including both high-order ESO (HESO) and cascaded ESO (CESO), enabling a comprehensive analysis of ADRC with various observer structures and establishing equivalence relationships between them. The findings provide valuable insights into the efficacy and versatility of ADRC in PMSM speed regulation, supported by experimental validation on a test bench using the dSPACE DS1202 MicroLabBox.