A Position Speed Integrated Active Disturbance Rejection Controller Based on Nonlinear Compensation Function Observer for PMLSM

For the propose of enhancing the servo performance and application safety of the permanent magnet linear synchronous motor (PMLSM), a position speed integrated active disturbance rejection control (ADRC) strategy based on a nonlinear compensation function observer (NCFO) is proposed and designed. By integrating a fast integral terminal sliding mode function (FITSMF) into the NCFO, the proposed NCFO demonstrates a significant advantage in time-varying disturbance observation compared with the linear extended state observer (LESO). Based on the observation results of NCFO, the NCFO-ADRC strategy is proposed and designed with the capability of speed limitation by integrating position and speed feedback control laws, and regardless of whether the mover is moving at the maximum speed or not, its tracking performance and anti-disturbance performance are always decoupled, which facilitates the parameter design of the method. The stability of NCFO-ADRC is proved in theory. Finally, the advantages of the proposed NCFO-ADRC strategy in tracking performance and positioning performance have been demonstrated by experiments, as well as the effectiveness of its speed limitation capability.