Abstract：A novel fuzzy active-disturbance rejection position controller of permanent magnet syn chronous motor (PMSM) servo system is presented in this paper, which aims to satisfy the features of PMSM servo system such as high accuracy, fast response, and better steady-state performance. First, fuzzy active-disturbance rejection controller is designed based on fuzzy control theory. Besides, through the improvement of position speed loop controller, the original features of controller are maintained and the adjustable parameters are reduced, which improves the system control performance. On this basis, q-axis output equation is analyzed and a new position fuzzy active-disturbance rejection controller (F-ADRC) scheme is proposed. It can not only ensure the dynamic performance of system but also improve the ability of the anti-disturbance. At last, simulation and experimental results show that the improved system has the characteristics of fast response, no overshoot and high control accuracy, and has strong robustness to load and inner parameter changes.
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