A novel position controller for PMSM servo system based on variable structure active disturbance rejection controller

A novel variable structure active-disturbance rejection position controller of permanent magnet synchronous motor (PMSM) servo system is presented in this paper. Not only maintaining the original features of controller, but also reducing the adjustable parameters, based on the variable structure designing. Through the analysis of cross-axis output equation, proposing a new position variable structure active-disturbance rejection controller (VS-ADRC) scheme, ensuring the system dynamic performance, while improving the ability of the anti-load disturbance. Simulation results show that the improved system with strong robustness to load and parameter changes within the system has fast response, no overshoot and the high control accuracy characteristics.