Application and Performance Analysis of Active Disturbance Rejection Control in Permanent Magnet Synchronous Motor Position Control

Yingcen Ma^*

• Tianjin University, Tianjin, China

With the continuous improvement of the requirements for processing accuracy and efficiency in high-end manufacturing, high-precision direct drive systems such as precision rotary tables of CNC machine tools have put forward extremely high requirements for the position control of permanent magnet synchronous motors (PMSM). This type of application has long been confronted with a compound challenge of external disturbances such as parameter perturbation caused by complex cutting force changes, friction nonlinearity in low-speed crawling characteristics, and instantaneous load impact. Traditional Proportional Integral (PI) control struggles to balance dynamic performance and robustness, while active disturbance rejection control still suffers from insufficient adaptability to nonlinear factors. Therefore, a nonlinear fuzzy adaptive self disturbance rejection control method is proposed by integrating the LuGre friction model with fuzzy gain scheduling. By designing a nonlinear extended state observer and introducing the LuGre friction model and fuzzy dynamic adjustment mechanism, the accuracy and dynamic response capability of PMSM position control are improved. The simulation experiment results show that in the 90 ° step response, compared to the linear active disturbance rejection control model, the newly introduced model cuts adjustment time by 20% and decreases overshoot by 50%. The final value error is 2.4 °, a decrease of 66.7% compared to before. The recovery time of 2N·m step disturbance is reduced by 27.3% and 55.6% compared to linear active disturbance rejection control and PI, respectively. In summary, the research model demonstrates significant improvements in dynamic response, steady-state accuracy, and disturbance rejection robustness. It effectively addresses issues such as nonlinear friction, parameter drift, and external disturbances in position control, providing an engineering-feasible solution for high-precision servo systems.