Abstract:The traditional PID control has the disadvantages of poor parameter adaptability and slow response. In this paper, the active disturbance rejection algorithm is combined with the first-order speed loop model of permanent magnet synchronous motor, and the speed loop model based on active disturbance rejection is designed. The simulation verifies that the algorithm improves the robustness of the system. Then, aiming at the problem that the auto-disturbance rejection algorithm has many parameters to be tuned and the parameters have no clear physical meaning, an improved sliding mode auto-disturbance rejection controller is adopted, and a new sliding mode reaching law is used to replace the traditional optimal control function to improve the sliding mode reaching motion. Through modeling and simulation experiments, it is verified that the improved sliding mode active disturbance rejection structure can shorten the time for the system to enter the steady state, reduce the chattering amplitude of the speed and torque of the system in the equilibrium state, and improve the dynamic performance and control accuracy of the system.