In order to make disturbance better estimated by ESO, and improve the control performance of ADRC, a model-compensation ADRC scheme for the PMSM speed-regulation system is presented.

• 为了使ESO对扰动有更好的估计，提高1阶自抗扰控制器的性能，提出了PMSM调速系统的模型补偿自抗扰控制器方案。