PMSM current robustness control integrating single-degree-of-freedom ADRC and two filters

During motor operation, variations in motor parameters lead to model mismatch, while unknown internal and external disturbances degrade control performance, resulting in poor disturbance rejection and robustness. To address this issue, this study analyzes the impact of parameter variations on current tracking performance and proposes a single-degree-of-freedom active disturbance rejection control (SDF-ADRC) method incorporating dual filters for current regulation. The approach extends the total disturbance of the error dynamic equation into a new state, constructs an extended state observer and control law, and evaluates the disturbance rejection capability of the model through frequency-domain analysis. Furthermore, to reduce the steady-state error in disturbance estimation, an adaptive notch filter and a first-order low-pass filter are designed, along with a parameter tuning procedure. Experimental results demonstrate that compared with PID method and SDF-ADRC method, the proposed method averagely reduces 55.13%, 26.97%, 30.02% and 35.29%, 20.24%, 20.08% respectively in the speed absolute deviation, THD of d , q axis current, which exhibits superior disturbance rejection, enhanced robustness, reduced output pulsation, and improved dynamic performance.