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 -