A Novel Position Controller of Pmsm Servo System Based on Active-disturbance Rejection Controller

Based on active-disturbance rejection controller (ADRC) theory, a novel position controller of permanent magnet synchronous motor (PMSM) servo system is presented in this paper. The position controller is composed of tracking differentiator(TD), extended state observer(ESO) and nonlinear state error feedback control law(NLSEF).The TD provides a transition process for reference position, which overcome the contradiction between respond speediness and overshoot smallness .The ESO observe the disturbance caused by PMSM parameter variations such as load, stator resistor and rotor inertia, and then compensates it to the servo system. The NLSEF implements a nonlinear control to the servo system which leads to accurate results. According to the simulation results, the servo system have advantages of speedy response, no overshoot, high accuracy and strong robustness against parameter variations and load disturbance when reference position is from 0.001rad to 11.8sin(3t) rad .