Active Disturbance Rejection Controller for Smooth Speed Control of Electric Drives Using Adaptive Generalized Integrator Extended State Observer

To suppress the torque ripple for smooth speed control of electric drives, active disturbance rejection (ADR) controller based on generalized integrator (GI) extended state observer (ESO) (GIESO) is developed in this article. Deadbeat ADR controller is employed to control the current, allowing the current control algorithm to be simplified. An adaptive GIESO is developed to address the instability problem caused by the two-step delay in the current control loop. Based on the system stability analysis, the design guideline for the adaptive resonant gain is determined. The proposed adaptive GIESO allows the system to be stable across the entire speed range while suppressing speed ripple to within 1 r/min.