Active disturbance rejection control of permanent magnet synchronous motor based on Kalman filter

Aiming at the poor observation accuracy of the extended state observer (ESO) in the traditional active disturbance rejection control strategy and the influence of system noise on the observation accuracy of ESO, a Kalman filter based active disturbance rejection control (KF-ADRC) strategy was proposed. The load torque measured by Kalman filter is compensated by feedforward to improve the ESO observation accuracy under large load disturbance. The speed measured by Kalman filter is used as closed-loop feedback to reduce the influence of system noise on ESO observation accuracy. The effectiveness of the proposed scheme is verified by MATLAB/Simulink simulation.