A Comparative Study of The First Order Linear ADRC and PI Controller in The Speed Control System of Permanent Magnet Synchronous Motor

摘要

By analyzing the speed control performance of PMSM and establishing the mathematical model of PMSM, the velocity PI controller structure and parameters based on the model are designed in the frequency domain. By analyzing the frequency domain characteristics of the PI controller, a control parameter setting algorithm of ADRC controller is proposed. There are approximately the same frequency domain characteristics between the adjusted ADRC controller and PI controller. According to the characteristics of frequency domain, the fair comparison environment of two controllers is constructed. Finally, a speed control environment based on PMSM is built through simulation. Through the comparison of stability, rapidity and overshoot, the stability margin of ADRC and PI controller is approximately the same. However, ADRC controller is superior to PI controller in rapidity and overshoot performance.