On the Active Disturbance Rejection Control of the Permanent Magnet Synchronous Motor

This article presents an active disturbance rejection control (ADRC) scheme for the regulation of the angular position of the permanent magnet synchronous motor including physical implementation. The information of the angular position variable is provided by a classical resolver included in the motor. A high gain generalized proportional integral (GPI) observer-based active disturbance rejection controller is used for the unknown load torque. The only information needed for the control the motor is the angular position and the control gains. The design is robust with respect to the effects of the total disturbance. This includes: the input load torque, state dependent nonlinearities and un-modeled dynamics. Their combined effect is estimated trough a GPI observer. The ADRC is implemented using the a-b nonlinear model of the PMSM. Realistic co-simulation in Matlab/Simulink and Psim package, including realistic measurement disturbances, are used to investigate the stability and accuracy of the proposed control algorithm. The simulation results are then compared with laboratory experiments carried out on a surface-mounted permanent magnet motor using a dSPACE controller card.