A high-performance robust controller of permanent-magnet synchronous motor (PMSM) drive with cascade linear auto disturbance rejection controller (LADRC) is proposed. The robust controller combines the simplicity of linear controller and the merit of the auto disturbance rejection controller (ADRC). First, a systematic mathematical model is derived according to the required specifications for the PMSM drive system. Then, for the model, this paper designs the controller that includes three first-order LADRCs. The controller does not rely on the accurate mathematical model of motor. The controller can estimate and compensate the disturbances that include load disturbance and systematic parameters changes by the linear extended state observer (LESO). Simulation results show that compared with conventional PI controller, the proposed approach has strong robustness. In the same load disturbance, the speed fluctuation of the LADRCs accounts for 30% of PI controller.
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