Model-Compensated Active Disturbance Rejection Control for PMSM Based on Parameters Identification

To achieve high-speed and precise control of a servo permanent magnet synchronous motor (PMSM) under multiple load conditions while mitigating the decline in dynamic performance caused by unknown disturbances and system parameter changes, an active disturbance rejection control (ADRC) method based on model compensation is proposed. Building on the foundation of a two-order position-speed compound ADRC, rotational inertia identification algorithm based on model reference adaptation is designed according to the mechanical motion equation of the PMSM. Additionally, a load torque observer based on the Luenberger observer is designed, which adaptively adjusts the control parameters of ADRC based on the identification and observation results. Simulation results show that the designed identification and observation algorithm are effective with a relatively fast convergence rate. The proposed control algorithm possesses superior parameter robustness and exhibits high control performance under multiple load conditions.