Enhanced Two-Degree-of-Freedom Integrated Position Tracking Control Strategy for PMSM Servo Systems based on SMCFO-LADRC

This paper proposes an enhanced two-degree-offreedom (2DOF) integrated position tracking control strategy based on an improved linear active disturbance rejection control method with the sliding mode compensation function observer (SMCFO-LADRC) for permanent magnet synchronous motor (PMSM) servo systems to achieve both high-precision position control and rapid dynamic response. The proposed sliding mode compensation function observer (SMCFO) integrates compensation function observer (CFO) with high-order fast nonsingular terminal sliding mode (HNFTSM), which exhibits superior disturbance observation ability compared to linear extended state observer (LESO). Moreover, the SMCFO-LADRC method is a genuine 2DOF control method that offers superior anti-disturbance performance over the linear active disturbance rejection control (LADRC) method and achieves complete decoupling of dynamic performance and disturbance rejection performance. Besides, the analysis of the SMCFO-LADRC method demonstrates its decoupling characteristics, stability, and disturbance observation capability. Finally, the effectiveness and theoretical correctness of the proposed SMCFO-LADRC method are validated through experiments, which confirm that the dynamic performance and disturbance rejection capability are mutually independent. So, the proposed method can significantly enhance the disturbance rejection performance of the PMSM servo system.