Discrete-Time Active Disturbance Rejection Current Control of PM Motor at Low Speed Using Resonant Sliding Mode

A discrete-time active disturbance rejection control (ADRC) method using resonant sliding mode is proposed to solve the disturbance characteristics of the current loop of permanent magnet (PM) motor at low speed. The extended state observer (ESO) is used to estimate the disturbance, but there is a contradiction between disturbance rejection and noise rejection in parameter design of ESO, which will affect the accuracy of the estimation, especially at low speed. In order to solve the problem, sliding mode control is combined with ADRC, while traditional integral sliding mode control still has poor rejection effect on the specific frequency harmonics. The resonant sliding mode is proposed to add resonance term to the integral sliding mode surface, which mitigates the impact of the disturbance that ESO fails to estimate on the tracking accuracy. Therefore, resonant sliding mode in the feedback control law of ADRC (RSM-ADRC) is employed to current loop to reduce the steady-state error. Meanwhile, the stability of the proposed algorithm is verified by discretization method. The steady and dynamic performances of the four control methods are compared through experiments to verify the feasibility and effectiveness of the proposed method. For example, when the reference current of $d$ - and $q$ -axes is 0 and 1 A, respectively, at 50 r/min, the total harmonic distortion of $q$ -axis current decreases from 1.68% to 0.64% and the sixth harmonic of current also drops to 0.135%. Despite the sudden change of inductance parameters, the steady-state current response is largely unaffected.