Enhanced LADRC for Permanent Magnet Synchronous Motor With Compensation Function Observer

Aiming at the problem of 1-degree-of-freedom characteristic and unsatisfactory anti-disturbance ability in linear active disturbance rejection control (LADRC) method of permanent magnet synchronous motor (PMSM), an enhanced LADRC with compensation function observer (CFO-LADRC) is proposed. First, based on the refined PMSM mathematical model containing the total disturbances, a speed controller adopting CFO-LADRC is designed to address the tradeoff between dynamic and anti-disturbance performance and improve the disturbance rejection performance of the system simultaneously. Moreover, the analysis of the proposed method reveals the decoupling characteristic, stability, robustness, and relationship between each controller parameter and control performance. Besides, a practical parameter configuration process is proposed to consider both the anti-disturbance and noise rejection. Finally, simulations and experiments are conducted to compare with the conventional LADRC and the proposed CFO-LADRC. The results demonstrate that the proposed method retains the advantages of the conventional method while effectively improving the anti-disturbance capability.