An active disturbance rejection controller based on Kalman observer for PMSM

In this paper, we propose a novel active disturbance rejection controller(ADRC) based on Kalman observer for permanent magnet synchronous motor(PMSM) speed-control system. The performance of the ADRC controller is mainly depending on the capacity of the extended state observer(ESO). However, the bandwidth of the ESO is usually limited by the existence of noise, and the amplitude of the total disturbance is very large in most cases. Therefore, the ESO usually can't track the total disturbance in real time. We design a Kalman observer to improve the performance of the ESO, which can weaken the effects of noise and estimate the load torque disturbance(the main component of the total disturbance) simultaneously. Combining the Kalman observer with the ESO, the performance of the ADRC controller can be greatly improved.