基于自抗扰控制器的永磁同步电机位置伺服控制

Permanent Magnet Synchronous Motor (PMSM) are widely adopted in servo control systems due to their advantages of stable low-speed performance and low noise emission. However, traditional PID control methods are increasingly inadequate in meeting requirements for positioning accuracy and rapid tracking response. This paper introduces an Active Disturbance Rejection Control (ADRC) algorithm to observe motor disturbances and compensate for them through control algorithms, thereby enhancing the performance of motor position servo control. A linearization process is applied to the ADRC algorithm, deriving its transfer function and enabling systematic parameter tuning. Through simulation modeling and experimental platform validation, comparative analysis with conventional three-loop PID control demonstrates that the proposed ADRC parameter tuning method achieves superior tracking performance and enhanced disturbance rejection capability in response to reference signals.