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A self-regulating fhan tracking differentiator algorithm of active disturbance rejection control.

Ziyu Wang¹, Xiaolin Wang², Xucong Bao²

¹Department of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 211106, China. wangziyu_1995@nuaa.edu.cn.

Scientific Reports

|January 12, 2026

Summary

This study introduces a self-regulating algorithm for fHan tracking differentiator (TD)-based active disturbance rejection control (ADRC) in permanent magnet synchronous motor (PMSM) drives. It dynamically adjusts a key parameter to improve stability and performance under varying conditions.

Keywords:

Active disturbance rejection control (ADRC)FHan algorithm PMSM drive Self-regulating parameter Tracking differentiator (TD)

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Area of Science:

Electrical Engineering
Control Systems

Background:

Active disturbance rejection control (ADRC) with fHan tracking differentiator (TD) is common in permanent magnet synchronous motor (PMSM) drives.
A critical parameter 'r' in fHan-TD is sensitive to speed commands and load changes, impacting stability and performance.

Purpose of the Study:

To develop a self-regulating fHan-TD algorithm for real-time tuning of the parameter 'r'.
To enhance the stability and dynamic performance of PMSM drives under varying operating conditions.

Main Methods:

Proposed a novel self-regulating fHan-TD algorithm.
Implemented real-time dynamic tuning of the parameter 'r'.
Conducted experimental validation on a PMSM drive platform.

Main Results:

The proposed algorithm significantly reduces speed settling time by up to 50% compared to fixed-r methods.
Maintained overshoot-free performance across diverse operating scenarios.
Demonstrated improved stability and dynamic response under varying loads and speed commands.

Conclusions:

The self-regulating fHan-TD algorithm effectively addresses the limitations of fixed-parameter approaches in PMSM drives.
Dynamic tuning of 'r' is crucial for robust and high-performance control of PMSM drives.
The proposed method offers a practical solution for improving PMSM drive efficiency and reliability.