Two-stage Active Disturbance Rejection Control for Coupled Permanent Magnet Synchronous Motors System With Mismatched Disturbance

In this paper, the design method of active disturbance reject control (ADRC) is revisited for coupled Permanentmagnet synchronous motors (CPMSMs) system with mismatched disturbance conditions. The traditional ADRC is not applicable in the case of mismatched disturbances, because it requires the controlled object have a strict integral chain form. In addition, the coupled permanent magnet synchronous motors is exactly one of the model with mismatch disturbance. Therefore, the idea of dividing the control law into two-stage is proposed, which is to make the disturbance and control input appear in the same channel, so that establish a matched disturbance form model of CPMSMs. An important contribution of this article is to overcome the disturbance which is not in the same equation as the control input voltage (that is u_d and u_q). Then, design a linear extended state observer (LESO) and a control law to estimate and compensate the mismatched disturbance. Finally, the proposed control strategy is verified by simulation via Matlab/Simulink program. The simulation results show that the proposed control method has a better control performance.