Enhanced active disturbance rejection speed controller for permanent magnet synchronous motors using virtual friction feedback technique

Active disturbance rejection controller (ADRC) has been widely promoted in permanent magnet synchronous motor (PMSM) drives for its simple design and remarkable anti‐disturbance characteristics. To further improve the control performance, a variety of advanced ADRC schemes have been proposed in recent years. However, the majority of them focused on constructing more complicated extended state observers (ESOs) while ignoring the utilization of state feedback. Motivated by the above issue, this article proposes an enhanced virtual friction ADR speed controller (VFADRC). It is distinguished by the simpler structure compared with other ADRC schemes. Besides, the introduced zero in disturbance rejection function of VFADRC contributes to the preferable anti‐disturbance response. Moreover, the enhanced configuration of VFADRC proposed in the article further improves the speed dynamics and robustness to inertia variations. Both the theoretical analysis and experimental results validate the excellent performance of the proposed ADR controller.