Linear/Nonlinear Active Disturbance Rejection Switching Control for Permanent Magnet Synchronous Motors

A linear/nonlinear active disturbance rejection control (ADRC) switching control (SADRC) strategy for permanent magnet synchronous motors (PMSMs) is proposed in this article to integrate the merits of the linear ADRC (LADRC) and nonlinear ADRC (NLADRC), and handle the trouble in parameter tuning and stability analysis of the NLADRC. The advantages and disadvantages of the LADRC and NLADRC are analyzed theoretically and a hysteretic switching strategy is presented to estimate and compensate the total disturbance smoothly and precisely. Based on the proposed control strategy, the SADRC controller of the PMSM is designed to achieve the accurate and robust speed control of the PMSM. Moreover, a parameter tuning strategy of the SADRC is proposed as well to simplify the parameter tuning of the NLADRC linked inextricably with that of the LADRC due to limitation of the switching conditions. Finally, the feasibility and superiority of the proposed control strategy are demonstrated on a 180 W PMSM platform.