Control strategy for the rotor position angle of permanent magnet synchronous motor based on error extended state observer

In order to solve the problems of strong coupling, variable parameters and nonlinearity of permanent magnet synchronous motor (PMSM), an expanded state observer based on error is proposed in this paper to achieve fast response, accurate tracking and strong anti-disturbance control performance of the rotor position and angle of PMSM. Firstly, a new nonlinear function is designed to replace the nonlinear function of the extended state observer (ESO) in the traditional active disturbance rejection controller (ADRC). Secondly, based on the improved nonlinear function, the structure of ESO is improved according to the error principle. Finally, the position and Angle control system based on PMSM is simulated. Simulation results show that the ADRC based on error ESO has better response speed, tracking accuracy and anti-disturbance performance than the traditional ADRC.