航空机电作动永磁同步电机自抗扰控制研究综述*

doi:10.11985/2021.04.003

摘要/Abstract

摘要：

永磁同步电机(Permanent magnet synchronous motor, PMSM)构成的机电作动系统在航空装备中具有广泛的应用,PMSM的转矩响应、稳态定位精度等指标直接影响着航空装备的性能。然而航空机电作动中存在电机本体参数摄动、载荷波动等扰动,为抑制扰动对驱动系统动静态指标的影响,PMSM自抗扰控制成为研究热点。以航空机电作动系统为背景,梳理机电作动中存在的多源扰动,对近年来自抗扰控制在PMSM高性能伺服中的研究成果进行总结,综述强抗扰反馈控制律、电流环抗扰控制策略、速度及位置环扰动观测器的研究现状。最后,归纳航空领域机电作动面临的研究难点及挑战,并对PMSM自抗扰控制的发展趋势进行展望。

关键词: 永磁同步电机, 伺服控制, 自抗扰控制, 机电作动

Abstract:

The electromechanical actuation system composed of permanent magnet synchronous motor (PMSM) is widely used in aviation equipment. The torque response, efficiency, and steady-state control accuracy of the motor directly affect the performance of aviation equipment. However, there are disturbances such as motor parameter perturbation and load fluctuation in aviation electromechanical actuation. To suppress the influence of disturbances on the dynamic and steady-state performance of the drive system, active disturbance rejection control (ADRC) has become a research hotspot. Based on the background of the aviation electro-mechanical actuator system, the multi-source disturbance in the electro-mechanical system is sorted out. The research results of ADRC in PMSM high-performance servo in recent years are summarized. The research status of strong anti-disturbance feedback control law, current loop anti-disturbance control strategy, disturbance observer of speed and position loops are reviewed. Finally, the research difficulties and challenges of electro-mechanical actuators in the aviation field are summarized, and the development trend of ADRC-based PMSM servo control technology is prospected.

Key words: Permanent magnet synchronous motor, servo control, active disturbance rejection control, electro-mechanical actuator

中图分类号:

TM351

刘春强, 骆光照, 涂文聪. 航空机电作动永磁同步电机自抗扰控制研究综述^*[J]. 电气工程学报, 2021, 16(4): 12-24.

LIU Chunqiang, LUO Guangzhao, TU Wencong. Survey on Active Disturbance Rejection Control of Permanent Magnet Synchronous Motor for Aviation Electro-mechanical Actuator[J]. Journal of Electrical Engineering, 2021, 16(4): 12-24.

图/表 13

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

参考文献 89

[1]	李开省. 电动飞机技术的发展研究[J]. 航空科学技术, 2019, 30(1):1-7.
	LI Kaisheng. Research on the development of electric aircraft technology[J]. Aeronautical Science & Technology, 2019, 30(1):1-7.
[2]	GIANGRANDE P, MADONNA V, SALA G, et al. Design and testing of PMSM for aerospace EMA applications[C]// 44th Annual Conference of the IEEE Industrial Electronics Society,Washington,DC,USA:IEEE, 2018:2038-2043.
[3]	王妙香. NASA亚声速大型飞机电推进技术研究综述[J]. 航空科学技术, 2019, 30(11):22-29.
	WANG Miaoxiang. Overview of NASA electrified aircraft propulsion research for large subsonic transports[J]. Aeronautical Science & Technology, 2019, 30(11):22-29.
[4]	孙侠生, 程文渊, 穆作栋, 等. 电动飞机发展白皮书[J]. 航空科学技术, 2019, 30(11):1-7.
	SUN Xiasheng, CHENG Wenyuan, MU Zuodong, et al. White paper on the development of electric aircraft[J]. Aeronautical Science & Technology, 2019, 30(11):1-7.
[5]	FU J, MARE J C, YU L, et al. Multi-level virtual prototyping of electromechanical actuation system for more electric aircraft[J]. Chinese Journal of Aeronautics, 2018, 31(5):892-913. doi: 10.1016/j.cja.2017.12.009
[6]	程明, 文宏辉, 曾煜, 等. 电机气隙磁场调制行为及其转矩分析[J]. 电工技术学报, 2020, 35(5):921-930.
	CHENG Ming, WEN Honghui, ZENG Yu, et al. Analysis of airgap field modulation behavior and torque component in electric machines[J]. Transactions of China Electrotechnical Society, 2020, 35(5):921-930.
[7]	郭雷. 关于反馈的作用及能力的认识[J]. 自动化博览, 2003(1):5-7,19.
	GUO Lei. Understanding the role and capability of feedback[J]. Automation Panorama, 2003(1):5-7,19.
[8]	YAN Y, YANG J, SUN Z, et al. Robust speed regulation for PMSM servo system with multiple sources of disturbances via an augmented disturbance observer[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(2):769-780. doi: 10.1109/TMECH.3516
[9]	郭雷. 多源干扰系统复合分层抗干扰控制理论:综述与展望[C]// 第三十届中国控制会议,烟台,中国, 2011:6193-6198.
	GUO Lei. Composite hierarchical anti-disturbance control for systems with multiple disturbances:Survey and overview[C]// Proceedings of the 30th Chinese Control Conference,Yantai,China, 2011:6193-6198.
[10]	FREIDOVICH L B, KHALIL H K. Performance recovery of feedback-linearization-based designs[J]. IEEE Transactions on Automatic Control, 2008, 53(10):2324-2334. doi: 10.1109/TAC.2008.2006821
[11]	韩京清. 自抗扰控制器及其应用[J]. 控制与决策, 1998, 13(1):19-23.
	HAN Jingqing. Auto-disturbances-rejection controller and it’s applications[J]. Control and Decision, 1998, 13(1):19-23.
[12]	SHE J, FANG M, OHYAMA Y, et al. Improving disturbance-rejection performance based on an equivalent- input-disturbance approach[J]. IEEE Transactions on Industrial Electronics, 2008, 55(1):380-389. doi: 10.1109/TIE.2007.905976
[13]	CHEN W, YANG J, GUO L, et al. Disturbance- observer-based control and related methods:An overview[J]. IEEE Transactions on Industrial Electronics, 2016, 63(2):1083-1095. doi: 10.1109/TIE.2015.2478397
[14]	DAI C, GUO T, YANG J, et al. A disturbance observer-based current-constrained controller for speed regulation of PMSM systems subject to unmatched disturbances[J]. IEEE Transactions on Industrial Electronics, 2021, 68(1):767-775. doi: 10.1109/TIE.41
[15]	HUANG Y, XUE W. Active disturbance rejection control:Methodology and theoretical analysis[J]. ISA Transactions, 2014, 53(4):963-976. doi: 10.1016/j.isatra.2014.03.003
[16]	TALOLE S E. Active disturbance rejection control: Applications in aerospace[J]. Control Theory and Technology, 2018, 16(4):314-323. doi: 10.1007/s11768-018-8114-1
[17]	GUO J, XUE W, HU T. Active disturbance rejection control for PMLM servo system in CNC machining[J]. Journal of Systems Science and Complexity, 2016, 29(1):74-98. doi: 10.1007/s11424-015-3258-2
[18]	王高林, 王博文, 张国强, 等. 无齿轮永磁曳引机无称重传感器自抗扰控制策略[J]. 电工技术学报, 2016, 31(S2):203-209.
	WANG Gaolin, WANG Bowen, ZHANG Guoqiang, et al. Weight-transducerless active disturbance rejection control strategy for gearless permanent magnet elevator machine[J]. Transactions of China Electrotechnical Society, 2016, 31(S2):203-209.
[19]	高志强. 浅谈工程控制的信息问题[J]. 系统科学与数学, 2016, 36(7):908-923.
	GAO Zhiqiang. On the problem of information in engineering cybernetics[J]. Journal of Systems Science and Mathematical Sciences, 2016, 36(7):908-923.
[20]	韩京清. 控制理论——模型论还是控制论[J].系统科学与数学, 1989(4):328-335.
	HAN Jingqing. Control theory,is it a model analysis approach or a direct control approach[J]. Journal of Systems Science and Mathematical Sciences, 1989(4):328-335.
[21]	朱斌. 自抗扰控制入门[M]. 北京: 北京航空航天大学出版社, 2017.
	ZHU Bin. Introduction to auto disturbance rejection control[M]. Beijing: Beihang University Press, 2017.
[22]	高志强. 自抗扰控制思想探究[J]. 控制理论与应用, 2013, 30(12):1498-1510.
	GAO Zhiqiang. On the foundation of active disturbance rejection control[J]. Control Theory & Applications, 2013, 30(12):1498-1510.
[23]	HRASKO M, MAKYS P, FRANKO M, et al. A comparison of position control structures for ironless linear synchronous motor[C]// 13th International Power Electronics and Motion Control Conference,Poznan, Poland:IEEE, 2008:2538-2542.
[24]	FU J, MARÉ J C, FU Y. Modelling and simulation of flight control electromechanical actuators with special focus on model architecting,multidisciplinary effects and power flows[J]. Chinese Journal of Aeronautics, 2017, 30(1):47-65. doi: 10.1016/j.cja.2016.07.006
[25]	刘春强, 骆光照, 涂文聪, 等. 基于自抗扰控制的双环伺服系统[J]. 中国电机工程学报, 2017, 37(23):7032-7039.
	LIU Chunqiang, LUO Guangzhao, TU Wencong, et al. Research on power system security and stability standards[J]. Proceedings of the CSEE, 2017, 37(23):7032-7039.
[26]	YANG J, CHEN W, LI S, et al. Disturbance/ uncertainty estimation and attenuation techniques in pmsm drives:A survey[J]. IEEE Transactions on Industrial Electronics, 2017, 64(4):3273-3285. doi: 10.1109/TIE.2016.2583412
[27]	LI S, GU H. Fuzzy adaptive internal model control schemes for PMSM speed-regulation system[J]. IEEE Transactions on Industrial Informatics, 2012, 8(4):767-779. doi: 10.1109/TII.2012.2205581
[28]	尹忠刚, 张迪, 蔡剑, 等. 基于三自由度内模控制的永磁同步电机矢量控制方法[J]. 电工技术学报, 2017, 32(21):55-64.
	YIN Zhonggang, ZHANG Di, CAI Jian, et al. A vector control method based on three-degree-of-freedom internal model control for permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2017, 32(21):55-64.
[29]	ZHANG X, SUN L, ZHAO K, et al. Nonlinear speed control for PMSM system using sliding-mode control and disturbance compensation techniques[J]. IEEE Transactions on Power Electronics, 2013, 28(3):1358-1365. doi: 10.1109/TPEL.2012.2206610
[30]	El-Sousy F F M. Hybrid H_∞-based wavelet-neural- network tracking control for permanent-magnet synchronous motor servo drives[J]. IEEE Transactions on Industrial Electronics, 2010, 57(9):3157-3166. doi: 10.1109/TIE.2009.2038331
[31]	YU W, LUO Y, CHEN Y, et al. Frequency domain modelling and control of fractional-order system for permanent magnet synchronous motor velocity servo system[J]. IET Control Theory & Applications, 2016, 10(2):136-143. doi: 10.1049/cth2.v10.2
[32]	黄庆, 黄守道, 冯垚径, 等. 基于变结构自抗扰的永磁电动机速度控制系统[J]. 电工技术学报, 2015, 30(20):31-39.
	HUANG Qing, HUANG Shoudao, FENG Yaojing, et al. Variable structure based active-disturbance rejection controller for speed control system of permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2015, 30(20):31-39.
[33]	左月飞, 张捷, 刘闯, 等. 针对时变输入的永磁同步电机改进型自抗扰控制器[J]. 电工技术学报, 2017, 32(2):161-170.
	ZUO Yuefei, ZHANG Jie, LIU Chuang, et al. Integrated design for permanent magnet synchronous motor servo systems based on active disturbance rejection control[J]. Transactions of China Electrotechnical Society, 2017, 32(2):161-170.
[34]	LIU C, LUO G, CHEN Z, et al. A linear ADRC-based robust high-dynamic double-loop servo system for aircraft electro-mechanical actuators[J]. Chinese Journal of Aeronautics, 2019, 32(9):2174-2187. doi: 10.1016/j.cja.2019.03.036
[35]	LEE Y, SUN L, MOON J, et al. Reference modulation for performance enhancement of motion control systems with nonlinear parameter variations[J]. IEEE/ASME Transactions on Mechatronics, 2019, 24(5):2040-2051. doi: 10.1109/TMECH.3516
[36]	ZUO Z, HAN Q, NING B, et al. An overview of recent advances in fixed-time cooperative control of multiagent systems[J]. IEEE Transactions on Industrial Informatics, 2018, 14(6):2322-2334. doi: 10.1109/TII.9424
[37]	刘洋, 井元伟, 刘晓平, 等. 非线性系统有限时间控制研究综述[J]. 控制理论与应用, 2020, 37(1):1-12.
	LIU Yang, JING Yuanwei, LIU Xiaoping, et al. Survey on finite-time control for nonlinear systems[J]. Control Theory & Applications, 2020, 37(1):1-12.
[38]	BHAT S P, BERNSTEIN D S. Finite-time stability of homogeneous systems[C]// Proceedings of the 1997 American Control Conference, Albuquerque,NM,USA: IEEE, 1997(4):2513-2514.
[39]	MISHRA J, WANG L, ZHU Y, et al. A novel mixed cascade finite-time switching control design for induction motor[J]. IEEE Transactions on Industrial Electronics, 2019, 66(2):1172-1181. doi: 10.1109/TIE.41
[40]	刘慧贤, 王钊, 李世华. 永磁同步电机伺服系统的有限时间位置控制[J]. 系统科学与数学, 2010, 30(6):721-732.
	LIU Huixian, WANG Zhao, LI Shihua. Finite-time control for permanent magnet synchronous motor position tracking system[J]. Journal of Systems Science and Mathematical Sciences, 2010, 30(6):721-732.
[41]	LI Shihua, LIU Huixian, DING Shihong. A speed control for a PMSM using finite-time feedback control and disturbance compensation[J]. Transactions of the Institute of Measurement and Control, 2009, 32(2):170-187. doi: 10.1177/0142331209339860
[42]	XIA C, LI S, SHI Y, et al. A non-smooth composite control approach for direct torque control of permanent magnet synchronous machines[J]. IEEE Access, 2019, 7:45313-45321. doi: 10.1109/Access.6287639
[43]	WANG G, WANG B, LI C, et al. Weight-transducerless control strategy based on active disturbance rejection theory for gearless elevator drives[J]. IET Electric Power Applications, 2017, 11(2):289-299. doi: 10.1049/elp2.v11.2
[44]	刘春强, 刘伊伦, 孔凡一, 等. 基于时变参数扰动观测器补偿的永磁同步电机非光滑速度调节器[J]. 电工技术学报, 2019, 34(4):664-672.
	LIU Chunqiang, LIU Yilun, KONG Fanyi, et al. Non-smooth speed controller based on time-varying parameter disturbance observer compensation for permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2019, 34(4):664-672.
[45]	YEPES A G, VIDAL A, MALVAR J, et al. Tuning method aimed at optimized settling time and overshoot for synchronous proportional-integral current control in electric machines[J]. IEEE Transactions on Power Electronics, 2014, 29(6):3041-3054. doi: 10.1109/TPEL.2013.2276059
[46]	ZHU Q, YIN Z, ZHANG Y, et al. Research on two-degree-of-freedom internal model control strategy for induction motor based on immune algorithm[J]. IEEE Transactions on Industrial Electronics, 2016, 63(3):1981-1992. doi: 10.1109/TIE.2015.2512222
[47]	牛里, 杨明, 刘可述, 等. 永磁同步电机电流预测控制算法[J]. 中国电机工程学报, 2012, 32(6):131-137.
	NIU Li, YANG Ming, LIU Keshu, et al. A predictive current control scheme for permanent magnet synchronous motors[J]. Proceedings of the CSEE, 2012, 32(6):131-137.
[48]	QU L, QIAO W, QU L. Active-disturbance-rejection- based sliding-mode current control for permanent-magnet synchronous motors[J]. IEEE Transactions on Power Electronics, 2021, 36(1):751-760. doi: 10.1109/TPEL.63
[49]	KE D, WANG F, HE L, et al. Predictive current control for PMSM systems using extended sliding mode observer with Hurwitz-based power reaching law[J]. IEEE Transactions on Power Electronics, 2021, 36(6):7223-7232. doi: 10.1109/TPEL.63
[50]	CAI X, ZHANG Z, WANG J, et al. Optimal control solutions for PMSM drives:A comparison study with experimental assessments[J]. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2018, 6(1):352-362. doi: 10.1109/JESTPE.2017.2717195
[51]	VUKOSAVIC S N, PERIC L S, LEVI E. Digital current controller with error-free feedback acquisition and active resistance[J]. IEEE Transactions on Industrial Electronics, 2018, 65(3):1980-1990. doi: 10.1109/TIE.41
[52]	廖勇, 李福, 林豪. 基于虚拟阻抗的永磁同步电机电流环控制策略[J]. 中国电机工程学报, 2017, 37(19):243-250,337.
	LIAO Yong, LI Fu, LIN Hao. Virtual impedance-based current control for permanent magnet synchronous machine[J]. Proceedings of the CSEE, 2017, 37(19):243-250,337.
[53]	YANG M, LANG X, LONG J, et al. Flux immunity robust predictive current control with incremental model and extended state observer for PMSM drive[J]. IEEE Transactions on Power Electronics, 2017, 32(12):9267-9279. doi: 10.1109/TPEL.2017.2654540
[54]	魏海峰, 韦汉培, 张懿. 基于扩张状态观测器的永磁同步电机PWM电流预测控制[J]. 控制与决策, 2018, 33(2):162-166.
	WEI Haifeng, WEI Hanpei, ZHANG Yi. PWM predictive current control of permanent magnet synchronous motor based on extended state observer[J]. Control and Decision, 2018, 33(2):162-166.
[55]	杨淑英, 王玉柱, 储昭晗, 等. 基于增益连续扩张状态观测器的永磁同步电机电流解耦控制[J]. 中国电机工程学报, 2020, 40(6):1985-1997.
	YANG Shuying, WANG Yuzhu, CHU Zhaohan, et al. Current decoupling control of PMSM based on an extended state observer with continuous gains[J]. Proceedings of the CSEE, 2020, 40(6):1985-1997.
[56]	REN J, YE Y, XU G, et al. Uncertainty-and-disturbance- estimator-based current control scheme for PMSM drives with a simple parameter tuning algorithm[J]. IEEE Transactions on Power Electronics, 2017, 32(7):5712-5722. doi: 10.1109/TPEL.2016.2607228
[57]	DENG Y, WANG J, LI H, et al. Adaptive sliding mode current control with sliding mode disturbance observer for PMSM drives[J]. ISA Transactions, 2019, 88:113-126. doi: 10.1016/j.isatra.2018.11.039
[58]	刘宁, 夏长亮, 周湛清, 等. 基于比例增益补偿的永磁同步电机转速平滑控制[J]. 电工技术学报, 2018, 33(17):4007-4015.
	LIU Ning, XIA Changliang, ZHOU Zhanqing, et al. Smooth speed control for permanent magnet synchronous motor using proportional gain compensation[J]. Transactions of China Electrotechnical Society, 2018, 33(17):4007-4015.
[59]	DU C, YIN Z, ZHANG Y, et al. Research on active disturbance rejection control with parameter autotune mechanism for induction motors based on adaptive particle swarm optimization algorithm with dynamic inertia weight[J]. IEEE Transactions on Power Electronics, 2019, 34(3):2841-2855. doi: 10.1109/TPEL.2018.2841869
[60]	LIU C, LUO G, CHEN Z, et al. Measurement delay compensated LADRC based current controller design for PMSM drives with a simple parameter tuning method[J]. ISA Transactions, 2020, 101:482-492. doi: 10.1016/j.isatra.2020.01.027
[61]	OHISHI K. Torque-speed regulation of DC motor based on load torque estimation[C]// IEEJ International Power Electronics Conference,Tokyo,Japan:IEEJ, 1983:1209-1216.
[62]	MATSUMOTO Y, KATSURA S, OHNISHI K. An analysis and design of bilateral control based on disturbance observer[C]// IEEE International Conference on Industrial Technology,Maribor, Slovenia:IEEE, 2003(2):802-807.
[63]	LEU V Q, CHOI H H, JUNG J. Fuzzy sliding mode speed controller for PM synchronous motors with a load torque observer[J]. IEEE Transactions on Power Electronics, 2012, 27(3):1530-1539. doi: 10.1109/TPEL.2011.2161488
[64]	郑泽东, 李永东, 肖曦, 等. 永磁同步电机负载转矩观测器[J]. 电工技术学报, 2010(2):30-36.
	ZHENG Zedong, LI Yongdong, XIAO Xi, et al. Load torque observer of permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2010(2):30-36.
[65]	WANG F, HE L. FPGA-based predictive speed control for PMSM system using integral sliding-mode disturbance observer[J]. IEEE Transactions on Industrial Electronics, 2021, 68(2):972-981. doi: 10.1109/TIE.41
[66]	LU W, TANG B, JI K, et al. A new load adaptive identification method based on an improved sliding mode observer for PMSM position servo system[J]. IEEE Transactions on Power Electronics, 2021, 36(3):3211-3223. doi: 10.1109/TPEL.63
[67]	OHNISHI K, SHIBATA M, MURAKAMI T. Motion control for advanced mechatronics[J]. IEEE/ASME Transactions on Mechatronics, 1996, 1(1):56-67. doi: 10.1109/3516.491410
[68]	左月飞, 张捷, 刘闯, 等. 基于自抗扰控制的永磁同步电机位置伺服系统一体化设计[J]. 电工技术学报, 2016, 31(11):51-58.
	ZUO Yuefei, ZHANG Jie, LIU Chuang, et al. Integrated design for permanent magnet synchronous motor servo systems based on active disturbance rejection control[J]. Transactions of China Electrotechnical Society, 2016, 31(11):51-58.
[69]	LI J, REN H, ZHONG Y. Robust speed control of induction motor drives using first-order auto-disturbance rejection controllers[J]. IEEE Transactions on Industry Applications, 2015, 51(1):712-720. doi: 10.1109/TIA.2014.2330062
[70]	韩京清. 从PID技术到“自抗扰控制”技术[J]. 控制工程, 2002, 9(3):13-18.
	HAN Jingqing. From PID technique to active disturbances rejection control technique[J]. Control Engineering of China, 2002, 9(3):13-18.
[71]	刘旭东, 李珂, 孙静, 等. 基于广义预测控制和扩展状态观测器的永磁同步电机控制[J]. 控制理论与应用, 2015, 32(12):1613-1619.
	LIU Xudong, LI Ke, SUN Jing, et al. Generalized predictive control based on extended state observer for permanent magnet synchronous motor system[J]. Control Theory & Applications, 2015, 32(12):1613-1619.
[72]	刘志刚, 李世华. 基于永磁同步电机模型辨识与补偿的自抗扰控制器[J]. 中国电机工程学报, 2008, 28(24):118-123.
	LIU Zhigang, LI Shihua. Active disturbance rejection controller based on permanent magnetic synchronous motor model identification and compensation[J]. Proceedings of the CSEE, 2008, 28(24):118-123.
[73]	XUE W, MADONSKI R, LAKOMY K, et al. Add-on module of active disturbance rejection for set-point tracking of motion control systems[J]. IEEE Transactions on Industry Applications, 2017, 53(4):4028-4040. doi: 10.1109/TIA.2017.2677360
[74]	YIN Z, DU C, LIU J, et al. Research on autodisturbance-rejection control of induction motors based on an ant colony optimization algorithm[J]. IEEE Transactions on Industrial Electronics, 2018, 65(4):3077-3094. doi: 10.1109/TIE.2017.2751008
[75]	WU D, CHEN K. Frequency-domain analysis of nonlinear active disturbance rejection control via the describing function method[J]. IEEE Transactions on Industrial Electronics, 2013, 60(9):3906-3914. doi: 10.1109/TIE.2012.2203777
[76]	GAO Z. Scaling and bandwidth-parameterization based controller tuning[C]// Proceedings of the 2003 American Control Conference,Denver,CO,USA:IEEE, 2003:4989-4996.
[77]	HERBST G, HEMPEL A-J, GÖHRT T, et al. Half-gain tuning for active disturbance rejection control[J]. IFAC-PapersOnLine, 2020, 53(2):1319-1324. doi: 10.1016/j.ifacol.2020.12.1864
[78]	LI S, XIA C, ZHOU X. Disturbance rejection control method for permanent magnet synchronous motor speed-regulation system[J]. Mechatronics, 2012, 22(6):706-714. doi: 10.1016/j.mechatronics.2012.02.007
[79]	SIRA-RAMÍREZ H, LINARES-FLORES J, GARCÍA-RODRÍGUEZ C, et al. On the control of the permanent magnet synchronous motor: An active disturbance rejection control approach[J]. IEEE Transactions on Control Systems Technology, 2014, 22(5):2056-2063. doi: 10.1109/TCST.2014.2298238
[80]	LIU C, LUO G, DUAN X, et al. Adaptive LADRC-based disturbance rejection method for electromechanical servo system[J]. IEEE Transactions on Industry Applications, 2020, 56(1):876-889. doi: 10.1109/TIA.28
[81]	DU H, WEN G, CHENG Y, et al. Design and implementation of bounded finite-time control algorithm for speed regulation of permanent magnet synchronous motor[J]. IEEE Transactions on Industrial Electronics, 2021, 68(3):2417-2426. doi: 10.1109/TIE.41
[82]	MURAMATSU H, KATSURA S. An adaptive periodic-disturbance observer for periodic-disturbance suppression[J]. IEEE Transactions on Industrial Informatics, 2018, 14(10):4446-4456. doi: 10.1109/TII.2018.2804338
[83]	KIM K, REW K, KIM S. Disturbance observer for estimating higher order disturbances in time series expansion[J]. IEEE Transactions on Automatic Control, 2010, 55(8):1905-1911. doi: 10.1109/TAC.2010.2049522
[84]	PING Z, WANG T, HUANG Y, et al. Internal model control of PMSM position servo system:Theory and experimental results[J]. IEEE Transactions on Industrial Informatics, 2020, 16(4):2202-2211. doi: 10.1109/TII.9424
[85]	ZHANG C, YANG J, YAN Y, et al. Semiglobal finite-time trajectory tracking realization for disturbed nonlinear systems via higher-order sliding modes[J]. IEEE Transactions on Automatic Control, 2020, 65(5):2185-2191. doi: 10.1109/TAC.9
[86]	LIU C, LUO G, CHEN Z, et al. Finite-time convergent multiple disturbance rejection control for electromechanical actuators[J]. IEEE Transactions on Power Electronics, 2021, 36(6):6863-6878. doi: 10.1109/TPEL.63
[87]	JO N H, JEON C, SHIM H. Noise reduction disturbance observer for disturbance attenuation and noise suppression[J]. IEEE Transactions on Industrial Electronics, 2017, 64(2):1381-1391. doi: 10.1109/TIE.41
[88]	赵志良. 自抗扰控制设计与理论分析[M]. 北京: 科学出版社, 2019.
	ZHAO Zhiliang. Design and theoretical analysis of active disturbance rejection control[M]. Beijing: Science China Press, 2019.
[89]	ZUO Y, ZHU X, QUAN L, et al. Active disturbance rejection controller for speed control of electrical drives using phase-locking loop observer[J]. IEEE Transactions on Industrial Electronics, 2019, 66(3):1748-1759. doi: 10.1109/TIE.41