An Enhanced Linear Active Disturbance Rejection Rotor Position Sensorless Control for Permanent Magnet Synchronous Motors

An enhanced linear active disturbance rejection controller (ELADRC) based rotor position sensorless field-oriented control scheme for the permanent magnet synchronous motor (PMSM) drivers is proposed in this article. The ELADRC consists of two linear extended state observers (LESOs) and a proportional current controller. One LESO is designed to estimate the back electromotive force (EMF), which is treated as the external disturbance. Then, the rotor position and speed are obtained from the estimated back EMF without any phase delay or chattering problem. The other LESO is designed to estimate the internal disturbances, such as the parameter and current regulation quality variations. The estimated total disturbance is used as a feedforward compensation term in the current control loop to improve the current regulation quality of the plant, which further improves the rotor position estimation performance. The plant combined with the two LESOs is equivalent to an integrator with a unity gain, which is controlled by a simple proportional current controller to generate the desired voltage vector for the pulsewidth modulation operation. Finally, the stability of the closed-loop PMSM drive system with the ELADRC-based scheme is analyzed. Based on the analysis, the parameters of the ELADRC are designed. The proposed scheme is validated by the experimental results for a 275-W salient-pole PMSM drive in which the PMSM is similar to the traction motor used in Toyota Prius hybrid electric vehicles at a reduced scale.