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An active disturbance rejection control (ADRC) controller using phase-locking loop observer (PLLO) is proposed in this paper to improve the disturbance rejection property of speed control system. First, to simplify the comparison with other controllers, a universal speed controller design method based on disturbance estimation is employed, and a unified expression for different controllers is presented. Then, several common speed controllers are compared with each other, and two PLLO-based ADRC controllers are presented. After that, considering the variations of load inertia, robustness of the proposed ADRC system to inertia variation is analyzed. Finally, to improve the tracking performance for sinusoidal speed reference, an adaptive speed control system using identified inertia is presented. Simulation and experimental results verify the effectiveness of the proposed method.
Zuo et al. (Mon,) studied this question.