Enhanced ADRC Based on a Dual Error Constraint Observer with Novel Resonant Controller for PMSM Current Ripple Attenuation

To effectively attenuate current ripple of the permanent magnet synchronous motor (PMSM), this paper proposes an enhanced active disturbance rejection control (EADRC) based on a dual error constraint observer with novel resonant controller (NRDEO). Within the proposed architecture, the dual error constraint observer (DEO) is designed to improve disturbance estimation performance by introducing an auxiliary error correction term on top of the conventional single error extended state observer. Meanwhile, a novel resonant controller (NRC), which is embedded in the disturbance estimation loop of the DEO, is developed to eliminate the resonant peak near the target frequency. With the direct current and alternating current disturbances accurately estimated, the feedback control law of EADRC is presented to effectively reject these disturbances. Furthermore, theoretical analysis comprehensively investigates the disturbance estimation and rejection capabilities, the convergence of the NRDEO, and the stability of the EADRC, which reveals that the proposed scheme can effectively enhance current dynamic performance and steady-state accuracy. Finally, the feasibility of the proposed scheme is evaluated on the PMSM experimental platform under various operational conditions.