A Fractional-Order ADRC Architecture for a PMSM Position Servo System with Improved Disturbance Rejection

Abstract

This paper proposes an active disturbance rejection control (ADRC) architecture for a permanent magnet synchronous motor (PMSM) position servo system. The presented method achieved enhanced tracking and disturbance rejection performance with a limited observer bandwidth. The model-aided extended state observer (MESO)-based ADRC was designed for the current, speed, and position loops of the PMSM position servo system. By integrating known plant information, the MESO improved disturbance estimation with a limited observer bandwidth without amplifying the noise. Additionally, a fractional-order proportional-derivative (FOPD) controller was designed as the feedback controller for the speed loop to further enhance the disturbance rejection. A simulation and experimental tests were conducted on a PMSM servo platform. The results demonstrate not only that the proposed method achieved superior tracking performance but also that the position error of the proposed strategy decreases to 2.25% when the constant disturbance was input, significantly improving the disturbance rejection performance.

Research on Active Repetitive Control for Tracking Lissajous Scan Trajectories with Voice Coil Motors Actuated Fast Steering Mirror

“…However, many problems with this approach, such as complex parameter tuning, high control bandwidth, short sampling intervals, and large observation errors, remain to be solved [35]. The FOPD controller is an extension of the traditional PD controller [36,37]. By adding an adjustable fractional order, the FOPD design can be more flexible, and attain better performance [38].…”