Two-Degree-of-Freedom Active Disturbance Rejection Current Control for Permanent Magnet Synchronous Motors

In the control of permanent magnet synchronous motors, the active disturbance rejection control (ADRC) has attracted considerable attention due to its intrinsic ability for disturbance rejection. However, the existing ADRC methods have the problem of coupling the reference tracking performance and disturbance suppression performance. To simultaneously improve the current control's dynamic response speed and steady-state control accuracy, a two-degree-of-freedom ADRC current control method based on the improved extended state observer (IESO) is proposed in this article. First, the designed IESO cancels the error correction term in the observed current update law to realize the complete decoupling of the reference tracking performance and disturbance suppression performance. Under the decoupling structure, the observed disturbance update law of the IESO is designed as a proportional-integral-repetitive control structure to suppress periodic and aperiodic disturbances. Then, the system stability is proved by analyzing the distribution of characteristic roots, and a two-step parameter tuning guideline of the IESO is provided. The proposed method realizes the complete decoupling of the reference tracking performance and disturbance suppression performance, reducing the complexity of the controller parameter selection and facilitating the realization of the high-performance current control. Finally, the effectiveness of the proposed method is validated by experimental results.