The invention discloses a PMSM
servo system control method based on an improved model compensation ADRC, aims at the problems that the
system disturbance amplitude estimated by an extended
state observer is high and changes sharply,
estimation precision is difficult to guarantee and obtaining of better control performance of an active disturbance rejection controller is limited, and provides an improved model compensation
active disturbance rejection control method. Firstly a second-order extended
state observer (ESO) is adopted to observe a total disturbance compensation model of the
system, and then the disturbance compensation model is utilized to be compensated to a
speed loop active disturbance rejection controller in the design of the
speed loop ADRC. According to the method, observation capacity of the ESO for system disturbance can be fully utilized so that the ESO in the ADRC is enabled not to estimate total disturbance quantity,
estimation burden of the ESO in the active disturbance rejection controller can be reduced,
estimation capacity of the system for total disturbance can be enhanced, compensation capacity of the system for various types of disturbance can be effectively enhanced and robustness and anti-disturbance capability of the system can be enhanced.