PMSM Speed Active Disturbance Rejection Control Based on Modified Extended State Observer

In order to address the issues of significant input variations and complex disturbances in speed control of permanent magnet synchronous motors (PMSM), a Modified Active Disturbance Rejection Controller (ADRC) based on an improved Modified Extended State Observer (ESO) is proposed in this paper. In this new method, a nonlinear cascaded structure of observers is adopted. By utilizing the TD filter, high-frequency noise can be attenuated while preserving the dynamic characteristics of the signal. Moreover, system oscillations caused by minor errors are effectively suppressed. The introduction of propeller and wave models enhances the realism of simulated marine environmental disturbances. Research results indicate that, compared to a single Extended State Observer, the cascaded MESO exhibits better disturbance rejection and noise resistance in complex marine environments, and the proposed MADRC outperforms both PI controllers and ADRC in dealing with marine environmental disturbances. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.