Enhanced ADRC With an Improved Extended State Observer Considering Aperiodic and Periodic Disturbances for PMSM Drives

Aperiodic and periodic disturbances in the current loop adversely affect the dynamic performance and steady-state accuracy of the permanent magnet synchronous motor (PMSM). Meanwhile, existing active disturbance rejection control (ADRC) methods face the challenge of coupled tracking performance and disturbance suppression performance, which restricts the improvement of the overall performance of the system. To address these issues, an enhanced ADRC with a improved extended state observer (IESO) is proposed. In the proposed IESO, an error-derivative compensation term is incorporated into the disturbance observation loop, which effectively eliminates gain overflow and significantly improves the estimation capability for aperiodic and low-frequency periodic disturbances. Moreover, the observer integrates a resonant internal model structure, enabling accurate estimation of periodic disturbances while effectively eliminating unexpected peaks. Based on this, the enhanced ADRC can effectively suppress both aperiodic and periodic disturbances while achieving complete decoupling between tracking performance and disturbance rejection performance. Additionally, a comprehensive performance analysis of the proposed scheme is conducted. Finally, the effectiveness and feasibility of the proposed scheme are validated on the PMSM experimental platform.