A Novel Position Control of PMSM Based on Active Disturbance Rejection

Considering the unavoidable and unmeasured disturbances, parameter variations and position measure error of real motion control applications, a novel controller is developed for the motion control of permanent-magnet synchronous motors (PMSM). First, an active disturbance rejection controller (ADRC) based on extended state observer (ESO) is employed to ensure the high performance of the entire control system. The ESO estimate both the states and the disturbances so that the ADRC has a corresponding part to compensate for the disturbances. And then, the inertia of system is identified online to improve the performance. At last, considering the case of position measure error, which is commonly in the applications that an encoder is used for position detection, an asynchronous sampling method (ASM) is used. The ASM detects the position at the moment of actual encoder pulse input, thus eliminating encoder positioning error. Simulation and Experimental results are shown to verify the method. Key-Words: Permanent-magnet synchronous motors, Active disturbance rejection controller, Extended state observer, Asynchronous sampling method, Inertia identification.