Load Adaptive PMSM Drive System Based on an Improved ADRC for Manipulator Joint

High-speed and high-precision position servo system of permanent magnet synchronous motor (PMSM) is the key part research development manipulator's joint. The active disturbance rejection control (ADRC) one commonly used methods in system, which has advantages fast speed easy physical realization. However, existing ADRC mostly adopts three-loop structure position-speed-current, some problems such as slow positioning response, poor accuracy, load adaptability caused by difficult parameter tuning. Therefore, a new adaptive two-loop drive based on an improved position-speed integrated with fuzzy self-tuning method proposed. In order to verify effectiveness scheme, test platform for Selective Compliance Assembly Robot Arm (SCARA) established. results show that designed proposed high changes.