The Compensated Active Disturbance Rejection Controller based on Sliding Mode Control for PMSM

This paper proposes a compensated Active Disturbance Rejection Controller (ADRC) based on Sliding Mode Control (SMC) for PMSM speed regulation system. This strategy obtains part of the system disturbance through identifying the moment of inertia and observing the load torque, then compensating them to the controller so as to reduce the pressure of extended state observer (ESO). Meanwhile the algorithm takes SMC to solve the problem that it is difficult to tune the parameters in nonlinear state error feedback control law (NLSEF), which can make the controller parameters simpler and easier to adjust. The simulation and experimental results show that the algorithm has the advantages of fast dynamic response, strong ability to resist the disturbance and simple parameters for tuning.