Current Controller Based on Active Disturbance Rejection Control With Parameter Identification for PMSM Servo Systems

This study aimed to design an active disturbance rejection control (ADRC) with parameter identification for current control in permanent magnet synchronous motor (PMSM) servo systems. Given the nonlinear uncertainty of the PMSMs, a parameter identification method based on the consensus Kalman filter was designed to establish an approximate model of the motor, reduce the uncertainty of the current loop model, and utilize the improved ADRC algorithm to eliminate the influence of uncertainty, nonlinearity, and strong coupling of the current loop of the PMSM. Consequently, the current control precision of the inner loop improved. The control experiment results indicate that the proposed method is suitable for the current control of nonlinear and strongly-coupled servo systems.