Optimal Fractional-Order Active Disturbance Rejection Controller Design for PMSM Speed Servo System

Area of Science:

• Control Systems Engineering
• Electrical Engineering
• Robotics

Background:

• Permanent Magnet Synchronous Motors (PMSM) are crucial in modern servo systems.
• Existing controllers like PID and Integer-Order ADRC face challenges in achieving optimal speed tracking and disturbance rejection.
• Fractional-order control offers potential for improved system performance.

Purpose of the Study:

• To propose a novel Fractional-Order Active Disturbance Rejection Controller (FOADRC) for PMSM speed servo systems.
• To develop an optimal tuning strategy for the FOADRC applicable to both fractional-order and integer-order systems.
• To evaluate the performance enhancement of FOADRC against traditional controllers.

Main Methods:

• The proposed FOADRC integrates a Fractional-Order Proportional Derivative (FOPD) controller with an Extended State Observer (ESO).
• The D-decomposition method was used to determine the global stable region for observer bandwidth.
• An optimal tuning strategy was developed to satisfy both frequency-domain and time-domain performance indicators.

Main Results:

• The FOADRC demonstrated significantly improved speed tracking performance compared to IOADRC and PID controllers.
• The proposed controller exhibited enhanced robustness against external load disturbances.
• Quantitative analysis showed substantial reductions in the Just-In-Time Average Error (JITAE) for both tracking and disturbance rejection.

Conclusions:

• The developed FOADRC provides superior speed tracking and disturbance rejection capabilities for PMSM systems.
• The optimal tuning strategy effectively enhances controller performance for both FOADRC and IOADRC.
• FOADRC represents a promising advancement over conventional control methods for PMSM applications.