Adaptive Parameter Estimation Based Nonlinear Active Disturbance Rejection Controller for a PMSM System

Considering total disturbances, i.e., parameter variation, model error, and load mutation, an adaptive active disturbance rejection control (adaptive ADRC) method is proposed to regulate the speed of permanent magnet synchronous motor system (PMSMs) in this article. First, a tracking state space model of a PMSMs is structured with adaptive parameter estimation of inertia and flux. Second, a nonlinear extended state observer (ESO) based on an adaptive law is designed to estimate the total disturbances for feedforward compensation. A finite time bounded stability theory is established to analyze the proposed nonlinear ESO. In addition, the stability of the closed-loop system is proved by a Lyapunov stability theory based on a proposed positive definite scalar function. Finally, the speed regulation and antidisturbance performances of the proposed adaptive ADRC controller are verified by an experimental platform based on DSPF28335 and MATLAB/SIMULINK. The reliability and superiority of the proposed controller are verified by simulation and experiment results.