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Active Disturbance Rejection

Control of Permanent
Magnet Synchronous Motor
Implementing Active Disturbance Rejection Control
(ADRC) Algorithm for closed-loop speed control system
for Permanent Magnet Synchronous Motors (PMSM)

Department of Electrical Engineering

Maulana Azad National Institute of Technology Bhopal, India

Aviral Upadhyay 191113269

Abhishek Agrawal 191113017
Akshat Jain 191113019
Anubhav Sharma 191113069
Harsh Garg 191113239
Abstract: This paper research variation of motor control strategy using Simulink
implementation with the focus on PMSM control using FOC control which is the most
popular technique in the present. It involves PID control which is a linear strategy and
thus suffers from certain drawbacks. We attempt to get rid of those by trying to
simulate a new and rising control technique known as ADRC, or Active Disturbance
Rejection Control, a non-linear technique. We proceed step by step, understanding
basic motor models and control blocks in depth and establishing basic difference
between the scalar and vector control and exploring the increased complexity but better
results of AC control strategy. Since ADRC needs a lot of research to implement
successfully, and it is a totally new concept, we have skipped its full implementation for
now with a short discussion on the methodology which could have been adopted, given
sufficient time.

Keywords – BLDC, Back EMF profile, PMSM, PWM, SVPWM, Simulink

1. LITERATURE REVIEW
Introduction:
With the rapid development of the world textile industry, the research on industrial sewing
machines have been focused on higher precision, more energy-saving, lower cost, higher
speed, multiple-function, more intelligence. In order to achieve all these performance
indexes, the main problem is to develop an effective servo system. And the PMSM based
servo systems have attracted more and more researchers, for which has several inherent
advantages compared with other types electric machinery, such as high power density, high
power factor, high torque to current ratio, high efficiency, low inertia, rugged construction,
easy for maintenance and so on [11].
The PID control is one of the early developed control strategies. Due to its simple algorithm,
good robustness and reliability, it has been widely used to design position, speed and
electric current loop controller in industrial sewing machine servo system. And classic PID
control based, such as increment PI control, fuzzy PID control, Neural PID control , multi-
segment PI control are also adopted[12,13]. However, the classical control strategies have
some disadvantages, such as, large overshoot, long adjustment time and so on. It is difficult
for the PMSM servo system to realize high precision control. PMSM servo system is a typical
non-linear time-variant control system. Many intelligent control methods such as fuzzy
control, self-adaptive control, neural network control, sliding mode variable structure
control, genetic algorithm control are adopted to solve the problems .
Many scholars have done a lot of meaningful researches on these control methods [5,6]. But
it still has some difficult to realize. The ADRC can not only arrange the transient process, but
also estimate and compensate the total disturbances on the system, which can highly
improve the performance of the PMSM servo system. In this paper, ADRC is used as a speed
loop regulator in the industrial sewing machine servo control system[7,8]. Simulation results
indicated that, compared with conventional PID control servo system, the proposed control
method has better dynamic performance, and stronger robustness to the system
disturbance.

Motor Control:
Electric motors, regardless of their type, have a controller of some type.The simplest
example of a motor control mechanism is a regular switch that connects a motor to its
power source. This switch can be a manual controller, or a relay connected to an automatic
sensor for starting and stopping a motor.Depending, on the applications of a motor,
controllers may offer different features. They help the motor start in low-voltage conditions,
allow multiple-speed or reverse control operations, protect from over current and overload
faults, and perform a wide range of other functions. Some complex motor control devices
also help in effectively controlling the speed as well as torque of the motor(s) and might also
be a part of a closed loop control system responsible for the exact positioning of the motor
driven machine.
They have several essential functions which include: automatically or manually starting as
well as stopping the operation of an electric motor, setting forward or reversing the course
of rotation, selecting and regulating the speed of rotation, controlling or regulating the
torque, as well as protecting the motor against several degrees of electrical overloads and
faults. [1]

PID Controller:
PID controllers are widely used, low level controllers used in systems that require some
form of control. PID stands for Proportional, Integral and Differential controllers. It consists
of these three parts which contribute to achieving optimal control of our systems.
The P controller: it applies measured input proportional to the error (i.e. deviation of the
actual output from required output) to the system.
The PI controller consists of a Proportional part and an Integral part. The Integral part
continuously gathers the errors in our system over time and feeds a force that makes up for
it back into the system.
In certain systems, using a P only controller or a PI doesn’t help achieve the needed tracking
or stability. In some cases, they produce an undesirable overshoot which needs to
eliminated. The I part of a controller has a contributory effect on the magnitude of the P
part but the D part has a counteractive effect on it making it really good for controlling
overshoots. It however increases the settling time.
The D part stands for the derivative term and is calculated by multiplying the rate of change
of the error term by K, the derivative gain.[2][3]

PMSM Motor Control:

The permanent magnet synchronous motors are one of the types of AC synchronous
motors, where the field is excited by permanent magnets that generate sinusoidal back
EMF. It contains a rotor and stator same as that of an induction motor, but a permanent
magnet is used as a rotor to create a magnetic field. Hence there is no need to wound field
winding on the rotor.
The advantages of permanent magnet synchronous motor include:
 provides higher efficiency at high speeds
 available in small sizes at different packages
 maintenance and installation is very easy than an induction motor
 capable of maintaining full torque at low speeds.
 high efficiency and reliability
 gives smooth torque and dynamic performance

Figure, Advantages of PMSM Motor over other motors[4]

ADRC Technique:
Active disturbance rejection control (ADRC) follows on from the PID. It is a type of nonlinear
robust control method that is based on extending the system model with an additional and
fictitious state variable, representing everything that the user does not include in the
mathematical model.[5][6]
The ADRC can not only arrange the transient process, but also estimate and compensate the
total disturbances on the system, which can highly improved the performance of the PMSM
servo system.
ADRC compared with conventional PID control servo system, the proposed control method
has better dynamic performance, and stronger robustness to the system disturbance.
 Figure. Block Diagram of ADRC Technique[7]

This disturbance rejection feature allows user to treat the considered system with a simpler
model, since the negative effects of modelling uncertainty are compensated in real time.The
success of PID control is error feedback. ADRC uses nonlinear state error feedback, so call it
Nonlinear PID. In linearization system, people can also use weighted state errors as
feedback.[8][9]
ADRC has been shown to give better control performance than PID control [Tian and Gao,
2009]. However, most of the reported applications of ADRC are in the area of motion
control. [Tian and Gao, 2009][10]

Major Contributions:
BLDC and PMSMs have a lot in common, but control algorithm of BLDC is simple to
understand. M. Poovizhi[11] and others verified the mathematical modelling of BLDC based
on the Simulink based simulation of closed loop control, the diagram of which is recreated
below:

References
[1] CACT Archived 2015-04-12 at the Wayback Machine, Center for Advanced Control
Technologies, Cleveland State University, USA
[2] Z Gao, Cleveland State University, U.S.A.; Bao-Zhu Guo, University of the Witwatersrand,
South Africa, “Active Disturbance Rejection Control”, 2014 IFAC World Congress.
[3] G Herbst, A Simulative Study on Active Disturbance Rejection Control (ADRC) as a Control
Tool for Practitioners.
[4]D Lin; W Luo; Hao Zhang, “Active disturbance rejection controller of BLDCM in electric
vehicle”, 2011 International Conference on Electrical Machines and Systems.
[5] AMishra, P Agarwal, S.P. Srivastava ;“A comprehensive analysis and implementation of
vector control of permanent magnet synchronous motor”, researchgate.net
[6] Y Guo; Biao Tang; J Gong; Tao S; “Research on Speed Control System of PMSM Based on
Active Disturbance Rejection Control”; IEEE 2020
[7] Tiago P. Nascimento, Martin Saska; Position and attitude control of multi-rotor aerial
vehicles: A survey in Annual Reviews in Control, 2019
[8]R Fareh,M AlShabi;“Robust Active Disturbance Rejection Control For Flexible Link
Manipulator”; researchgate.net
[9], Han J. From PID to active disturbance rejection control[J]. IEEE transactions on Industrial
Electronics, 2009, 56(3): 900-906.
[10] Guo, Bao-Zhu, and Zhi-Liang Zhao. "On convergence of tracking differentiator."
International Journal of Control 84.4 (2011): 693-701.
[11] ADRC-Based Speed Control for Permanent Magnet Synchronous Machine Drives Using
Sliding-Mode Extended State Observer.

[12]Isa, S.N.M.; Ibrahim, Z.; Patkar, F. “Comparative study of fuzzy logic speed controller in vector
controlled PMSM drive: minimum number of fuzzy rule-base”,proceeding of the CITISIA , 25-26 July,
2009, pp.112 – 118

[13]Eung-Seop An, et. al “System identification and two DOF PID controller design for an industrial
sewing machine”, Industrial Electronics Society, 2003. IECON’03. The 29th Annual Conference of the
IEEE, Vol. 2, Nov. 2003, pp. 1557-1563

Motivation And Problem Formulation :

Electric motors are found in electrical appliances, changes in the industry, process control,
cars and everywhere. Permanent magnetic motors synchronous motors (PMSM) are
specialized types of brushless motors that offer advantages such as high efficiency, high
torque ratio, high performance at both high and low operating speeds, and low
maintenance of other motors. Controlling algorithms are important challenges in the
automotive control industry. The speed control of PSMS motors is usually achieved by
employing Proportional-Integral (PI) controls. However, in some applications such as
treadmills, electric vehicles, etc. due to sudden and normal load variations, makes the use of
PI controls inappropriate. The Active Disturbance Rejection Control (ADRC) algorithm is an
appropriate strategy as it provides better flexible performance in any sudden changes in
load.
Project Description
The aim of this project is to work with Motor Control Blockset ™ to use Active Disturbance
Rejection Control (ADRC) for PMSM vehicles using MATLAB® and Simulink®. In the Motor
Control Blockset, there are reliable examples of traffic control via PI. Use Active Disturbance
Rejection Control (ADRC) to control the engine to avoid interruptions and compare the
performance of the controller with a standard PI control for sudden loading. You can target
applications such as a treadmill or electric car where sudden changes in load are
expected.The required steps to be implemented are as follows:
1. Firstly, to understand the reference examples of closed speed control in Motor
Control Blockset and imitating models with different car loads to better understand
system flexibility.
2. In the reference example, adding the load capacity of a treadmill or similar program
and check the performance of the controller.
3. Using ADRC vehicle control in Simulink®. Wewill also try different control algorithms
such as reinforcement learning or predict control model for control resistance.
4. Imitating and ensuring that the controller meets control and motor spin benefits and
monitors the reference speed that meets the control objective. Verifying control of
the controller at treadmill load dynamics.
5. Comparing the performance of the ADRC controller with the PI controller. It can be
seen how distractions are best handled in the ADRC compared to the PI control.

METHODOLOGY

RESULT AND DISCUSSION

Project Variations
We will be exploring control algorithms other than ADRC like reinforcement learning, Model
predictive control etc and comparing its performance in disturbance rejection to a
conventional PI controller in future.