An active disturbance rejection friction compensation in permanent magnet synchronous motor servo system

Due to nonlinearity and uncertainty, dynamic friction is a predominant factor that deteriorates tracking performance of PMSM servo system in low velocity, and it is desirable to be compensated in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a nonlinear controller based on active disturbance rejection control is presented to compensate the nonlinear effect of friction. The friction is regarded as the disturbance and estimated by extended state observer whose parameters are regulated by LuGre friction model. Simulation results well verify the feasibility and the effectiveness of the proposed scheme for high-precision motion trajectory tracking.