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<p>The fHan tracking differentiator (TD)-based active disturbance rejection control (ADRC) is widely adopted in permanent magnet synchronous motor (PMSM) drives to suppress setpoint jumps. However, this work uncovers a critical drawback: the optimal value of the parameter <i>r</i> in fHan-TD, which is designed to achieve rapid and overshoot-free control, exhibits strong dependence on speed step commands and load variations. Consequently, existing fixed <i>r</i> configurations fail to sustain stability and dynamic performance under varying operating conditions. To address this, this paper proposes a self-regulating fHan-TD algorithm that dynamically tunes <i>r</i> in real-time. Experimental validation on a PMSM drive platform confirms that the proposed algorithm reduces the speed settling time by up to 50% relative to the conventional fixed-<i>r</i> fHan-TD, while maintaining no overshoot across diverse operating scenarios.</p>

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A self-regulating fhan tracking differentiator algorithm of active disturbance rejection control

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  • 出版模式：

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  • 发表日期：

    2026年1月12日

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  • Ziyu Wang,
  • Xiaolin Wang,
  • Xucong Bao

摘要

The fHan tracking differentiator (TD)-based active disturbance rejection control (ADRC) is widely adopted in permanent magnet synchronous motor (PMSM) drives to suppress setpoint jumps. However, this work uncovers a critical drawback: the optimal value of the parameter r in fHan-TD, which is designed to achieve rapid and overshoot-free control, exhibits strong dependence on speed step commands and load variations. Consequently, existing fixed r configurations fail to sustain stability and dynamic performance under varying operating conditions. To address this, this paper proposes a self-regulating fHan-TD algorithm that dynamically tunes r in real-time. Experimental validation on a PMSM drive platform confirms that the proposed algorithm reduces the speed settling time by up to 50% relative to the conventional fixed-r fHan-TD, while maintaining no overshoot across diverse operating scenarios.