Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control

Chichen Li; Pu Gao; Hui Lui; Keyu Yan

doi:10.1007/978-981-95-7904-4_43

Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control

Chichen Li
, Pu Gao^*
, Hui Lui
, Keyu Yan

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Permanent magnet synchronous motors are widely used in fields such as articulated robots. In order to improve the dynamic response performance of PMSM and enhance the robustness and dynamic performance of the drive system, this study takes the servo motor used in the wheel-legged maneuvering platform as the research object, and designs a high dynamic performance controller based on the traditional active disturbance rejection control strategy. We analyzed the limitations of ESO in traditional ADRC control, designed a cascaded LESO, analyzed and compared the performance of two observers, designed an improved active disturbance rejection controller (I-ADRC), and applied it to the speed loop and current loop of permanent magnet synchronous motor respectively. Through simulation experiments, we verified that when this controller is applied to the current loop, it can effectively improve the dynamic response speed of PMSM, thereby making the system have stronger anti-interference ability and better dynamic performance.

Original language	English
Title of host publication	Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025
Editors	Jianrong Tan, Zhenyu Liu, Weifei Hu
Publisher	Springer Science and Business Media B.V.
Pages	607-620
Number of pages	14
ISBN (Print)	9789819579037
DOIs	https://doi.org/10.1007/978-981-95-7904-4_43
Publication status	Published - 2027
Event	International Conference on Mechanical Design, ICMD 2025 - Hangzhou, China Duration: 9 May 2025 → 11 May 2025

Publication series

Name	Mechanisms and Machine Science
Volume	206
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	International Conference on Mechanical Design, ICMD 2025
Country/Territory	China
City	Hangzhou
Period	9/05/25 → 11/05/25

Keywords

active disturbance rejection control
cascaded extended state observer
controller design
dynamic performance
Electric joint
Permanent magnet synchronous motor

Access to Document

10.1007/978-981-95-7904-4_43

Cite this

Li, C., Gao, P., Lui, H., & Yan, K. (2027). Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control. In J. Tan, Z. Liu, & W. Hu (Eds.), Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025 (pp. 607-620). (Mechanisms and Machine Science; Vol. 206). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-981-95-7904-4_43

Li, Chichen ; Gao, Pu ; Lui, Hui et al. / Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control. Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025. editor / Jianrong Tan ; Zhenyu Liu ; Weifei Hu. Springer Science and Business Media B.V., 2027. pp. 607-620 (Mechanisms and Machine Science).

@inproceedings{8380a7dd08264253bcdec4aa023107b0,

title = "Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control",

abstract = "Permanent magnet synchronous motors are widely used in fields such as articulated robots. In order to improve the dynamic response performance of PMSM and enhance the robustness and dynamic performance of the drive system, this study takes the servo motor used in the wheel-legged maneuvering platform as the research object, and designs a high dynamic performance controller based on the traditional active disturbance rejection control strategy. We analyzed the limitations of ESO in traditional ADRC control, designed a cascaded LESO, analyzed and compared the performance of two observers, designed an improved active disturbance rejection controller (I-ADRC), and applied it to the speed loop and current loop of permanent magnet synchronous motor respectively. Through simulation experiments, we verified that when this controller is applied to the current loop, it can effectively improve the dynamic response speed of PMSM, thereby making the system have stronger anti-interference ability and better dynamic performance.",

keywords = "active disturbance rejection control, cascaded extended state observer, controller design, dynamic performance, Electric joint, Permanent magnet synchronous motor",

author = "Chichen Li and Pu Gao and Hui Lui and Keyu Yan",

note = "Publisher Copyright: {\textcopyright} The Chinese Mechanical Engineering Society 2027.; International Conference on Mechanical Design, ICMD 2025 ; Conference date: 09-05-2025 Through 11-05-2025",

year = "2027",

doi = "10.1007/978-981-95-7904-4\_43",

language = "English",

isbn = "9789819579037",

series = "Mechanisms and Machine Science",

publisher = "Springer Science and Business Media B.V.",

pages = "607--620",

editor = "Jianrong Tan and Zhenyu Liu and Weifei Hu",

booktitle = "Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025",

address = "Germany",

}

Li, C, Gao, P, Lui, H & Yan, K 2027, Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control. in J Tan, Z Liu & W Hu (eds), Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025. Mechanisms and Machine Science, vol. 206, Springer Science and Business Media B.V., pp. 607-620, International Conference on Mechanical Design, ICMD 2025, Hangzhou, China, 9/05/25. https://doi.org/10.1007/978-981-95-7904-4_43

Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control. / Li, Chichen; Gao, Pu; Lui, Hui et al.
Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025. ed. / Jianrong Tan; Zhenyu Liu; Weifei Hu. Springer Science and Business Media B.V., 2027. p. 607-620 (Mechanisms and Machine Science; Vol. 206).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control

AU - Li, Chichen

AU - Gao, Pu

AU - Lui, Hui

AU - Yan, Keyu

N1 - Publisher Copyright: © The Chinese Mechanical Engineering Society 2027.

PY - 2027

Y1 - 2027

N2 - Permanent magnet synchronous motors are widely used in fields such as articulated robots. In order to improve the dynamic response performance of PMSM and enhance the robustness and dynamic performance of the drive system, this study takes the servo motor used in the wheel-legged maneuvering platform as the research object, and designs a high dynamic performance controller based on the traditional active disturbance rejection control strategy. We analyzed the limitations of ESO in traditional ADRC control, designed a cascaded LESO, analyzed and compared the performance of two observers, designed an improved active disturbance rejection controller (I-ADRC), and applied it to the speed loop and current loop of permanent magnet synchronous motor respectively. Through simulation experiments, we verified that when this controller is applied to the current loop, it can effectively improve the dynamic response speed of PMSM, thereby making the system have stronger anti-interference ability and better dynamic performance.

AB - Permanent magnet synchronous motors are widely used in fields such as articulated robots. In order to improve the dynamic response performance of PMSM and enhance the robustness and dynamic performance of the drive system, this study takes the servo motor used in the wheel-legged maneuvering platform as the research object, and designs a high dynamic performance controller based on the traditional active disturbance rejection control strategy. We analyzed the limitations of ESO in traditional ADRC control, designed a cascaded LESO, analyzed and compared the performance of two observers, designed an improved active disturbance rejection controller (I-ADRC), and applied it to the speed loop and current loop of permanent magnet synchronous motor respectively. Through simulation experiments, we verified that when this controller is applied to the current loop, it can effectively improve the dynamic response speed of PMSM, thereby making the system have stronger anti-interference ability and better dynamic performance.

KW - active disturbance rejection control

KW - cascaded extended state observer

KW - controller design

KW - dynamic performance

KW - Electric joint

KW - Permanent magnet synchronous motor

UR - https://www.scopus.com/pages/publications/105043764436

U2 - 10.1007/978-981-95-7904-4_43

DO - 10.1007/978-981-95-7904-4_43

M3 - Conference contribution

AN - SCOPUS:105043764436

SN - 9789819579037

T3 - Mechanisms and Machine Science

SP - 607

EP - 620

BT - Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025

A2 - Tan, Jianrong

A2 - Liu, Zhenyu

A2 - Hu, Weifei

PB - Springer Science and Business Media B.V.

T2 - International Conference on Mechanical Design, ICMD 2025

Y2 - 9 May 2025 through 11 May 2025

ER -

Li C, Gao P, Lui H, Yan K. Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control. In Tan J, Liu Z, Hu W, editors, Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025. Springer Science and Business Media B.V. 2027. p. 607-620. (Mechanisms and Machine Science). doi: 10.1007/978-981-95-7904-4_43

Design of PMSM High Dynamic Performance Controller Based on Improved Active Disturbance Rejection Control

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