Optimized LADRC of PMSM Speed Tracking

In order to enhance the dynamic response characteristics and robustness of the permanent magnet synchronous motor (PMSM), a Linear Active Disturbance Rejection Control (LADRC) parameter tuning method that combines offline Particle Swarm Optimization (PSO) with online adaptation is proposed. First, the current inner loop is established based on the stator voltage equation of the PMSM in the dq coordinate system. Subsequently, a second-order ADRC position outer loop controller is constructed according to the mechanical motion equation and electromagnetic torque equation of the PMSM. A differential tracker (TD) is incorporated to obtain a smoother input signal, thereby forming the fundamental control structure. Second, the proposed parameter tuning method integrates offline PSO and online adaptation for key parameters within the LADRC framework, achieving optimal solutions without imposing additional computational burdens on the system. Following a series of simulations, the results demonstrate that this approach effectively enhances the performance of PMSM speed control and addresses the challenges associated with manual parameter tuning.