Active disturbance rejection position servo control of PMSLM based on reduced-order extended state observer

Abstract

To enhance the control accuracy of permanent magnet synchronous linear motor (PMSLM) servo systems affected by disturbances, such as time-varying parameters and abrupt load changes, an active disturbance rejection control (ADRC) algorithm based on a reduced-order extended state observer (ESO) is adopted to suppress the disturbances on the control system. First, the system's ability to estimate disturbances is enhanced by linearizing the ESO. Second, the pole placement method is used for the construction of a reduced-order ESO that can reduce the influence of the number of adjustment parameters and the phase lag. The parameters of the reduced-order ADRC are adjusted, the optimal control parameters are selected, and the stability of controller is proved. Finally, practical experiments prove that the proposed method can improve control accuracy under multiple working conditions and features strong anti-interference ability. There is a smaller steady-state error, and no overshoot is observed.