An improved two-degree-of-freedom ADRC for asynchronous motor vector system

This paper proposes an improved two-degree-of-freedom active disturbance rejection controller for the coupling problem of asynchronous motor vector system. To simplify the analysis process and accommodate observers of different types, a unified expression based on different controllers for the system output is developed. The closed-loop transfer function generated by the reference input and load disturbance is given. For the coupling problem of motor output speed and immunity, the structure of a higher-order extended state observer is reconstructed. The extended state observer estimates both the output speed and the total system disturbance, which serve as feedback and feed-forward compensation quantities. Compared to the PI controller and traditional active disturbance rejection controller, the proposed controller achieves decoupling of output response speed and immunity, simplifies the process of parameter tuning. Finally, simulation and experiment results verify the feasibility and effectiveness of the algorithm in this paper.