Modified model-compensation ADRC controller and its application in PMSM current loop

Active disturbance rejection control (ADRC) is now widely applied in motor drives due to its advantages like independence of system models and better disturbance rejection ability. For the current loop of permanent magnet synchronous motor (PMSM), the uncertainties like model coupling and parameter variation can be estimated and compensated by ADRC. Considering that the total disturbance of current loop can be partially compensated by available plant characteristics, the idea of model compensation can be applied to ADRC controller. However, the filter link in the current feedback loop is usually ignored in the conventional model compensation approach. Therefore, a modified model-compensation ADRC current control strategy is proposed with the filter link effect considered in this paper. Simulation and experimental results show that better current tracking performance is achieved by the proposed control strategy.