Two Stages Active Disturbance Rejection Control for Coupled Permanent Magnet Synchronous Motors System with Mismatch Disturbance

Abstract Aiming at the disturbance mismatch in the coupled permanent magnet synchronous motors(CPMSMs) system, a new design method of active disturbance rejection controller(ADRC) is proposed in this paper. In order to eliminate the coupling tension between motors, the control law is designed in two stages, so that the disturbance and control input appear in the same channel, and then the ADRC is designed to realize the control goal by using the control input. The proposed method is more universal than the previous methods, and the parameter tuning is easier. At the same time, it simplifies the design steps of the controller and reduces the requirements of the control system.