Integrated Position and Speed Control for PMSM Servo System Based on Extended State Observer

The permanent magnet synchronous motor (PMSM) servo systems are widely adopted in many applications, where demand fast responses, high precision and strong ability of anti-disturbance, etc. First, this paper briefly introduce the design of sliding mode control (SMC), active disturbance rejection control (ADRC) for integrated position and speed controller for PMSM servo systems. Then the SMC basd on an extended state observer (ESO) for PMSM servo system is proposed. At last, the dynamic-state, steady-state and anti-disturbance performances are compared through experimental results. And the experimental results demonstrate the SMC with ESO (SMC-ESO) can achieve faster dynamic response, smaller chattering problem and anti-disturbance performances in comparison with conventional SMC. Although the overall performances of ADRC and SMC-ESO are similar, the SMC-ESO uses less parameters than ADRC and is convenient to be realized in real embedded system.