Compensated ADRC Control Based on Permanent Magnet Synchronous Motors

Aiming at the problems of poor disturbance immunity and speed overshooting of the traditional PI controller in the control system of permanent magnet synchronous motor, a composite self-immobilizing control strategy with discriminative compensation is proposed. Firstly, the linear self-resistant control (LADRC) is utilized instead of the traditional self-resistant control, which simplifies the parameter tuning process of the controller; secondly, considering that the load perturbation affects the accuracy of the linear expanded state observer (LESO), the reduced-order observer method is adopted, and the perturbation obtained is compensated to the controller through real-time identification of the load torque, in order to reduce the pressure of the LESO on the system perturbation. It is shown through simulation and experiment that the PMSM composite self-resistant control with discrimination compensation has higher speed observation accuracy and disturbance immunity.