Linear-Nonlinear Switching Active Disturbance Rejection Speed Controller for Permanent Magnet Synchronous Motors

Area of Science:

• Control Systems Engineering
• Electrical Engineering
• Robotics

Background:

• Linear Active Disturbance Rejection Control (LADRC) and Nonlinear LADRC (NLADRC) have limitations.
• NLADRC's parameter α creates a trade-off between response speed and control precision.
• A need exists for a control strategy that merges the strengths of both LADRC and NLADRC.

Purpose of the Study:

• To develop a Switching Active Disturbance Rejection Control (SADRC) strategy.
• To improve the balance between response speed and control precision.
• To enhance disturbance rejection capabilities.

Main Methods:

• Proposed a linear-nonlinear switching function (SF) with adjustable parameters.
• Developed a Switching Extended State Observer (SESO) and Switching State Error Feedback (SSEF) control law based on the SF.
• Derived the convergence range of SESO observation error and demonstrated closed-loop system stability.

Main Results:

• The SADRC strategy was applied to a 707 W permanent magnet synchronous motor (PMSM) experimental platform.
• Verified the dynamic and static characteristics of the proposed SADRC.
• Demonstrated that SADRC effectively combines the performance advantages of LADRC and NLADRC.

Conclusions:

• The SADRC strategy successfully balances response speed and control precision.
• SADRC exhibits superior disturbance rejection capabilities compared to traditional methods.
• The proposed SADRC has significant potential for practical engineering applications.