Active Disturbance Rejection Resonant Control With Decoupling Extended Observation Branch for Current Harmonic Suppression of DTP-PMSM

Dual three-phase permanent magnet synchronous motor (DTP-PMSM) exhibits high current harmonics owing to low impedance, and active disturbance rejection control (ADRC) with extended state observer (ESO) is a promising solution. However, current harmonic suppression of traditional ADRC (TR-ADRC) is insufficient, not just due to limited ac disturbance observation, linear gain coupling problem presented in this article is a critical factor. To significantly suppress harmonics independent of linear gain, the new ADRC is proposed based on extended disturbance observation branch (EDOB) combined with low-pass filter (LPF) and quasi-resonant controller (QRC). With the EDOB-based ESO, the unique decoupling between linear gain and anti-disturbance performance is achieved. By using QRC and LPF in the EDOB-based ESO, the observation and rejection for high-frequency and periodic disturbances are further enhanced. Meanwhile, current observation performance is not affected by EDOB, and tracking performance can be improved. The respective roles of EDOB, LPF and QRC in the new ADRC are investigated, parameter design and experimental results are provided. The results show that, compared with the TR-ADRC, the proposed ADRC can obviously decrease current harmonics of the DTP-PMSM with fast dynamic response, and the harmonic suppression is no longer influenced by linear gain.