[Position loop control of permanent magnet synchronous motor based on ADRC]

principle

Location Ring ADRC:

simulation

Inside the position loop:

Inside the ESO:

Parameter setting:

Speed ​​loop:

Current loop:

Motor parameters:

propeller module (look-up table method): In addition, propellers can be added or not, depending on the situation

Speed, angle, electromagnetic torque, three-phase current waveform:

Summarize

We can find that given an angular position of 20, we can track up to 20, and the waveform is still fine. In addition, given the position loop, the speed is 0, so don't be surprised.
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