Model Compensation-Based Active Disturbance Rejection Control of Brushless Dual-Electrical-Port Dual-Mechanical-Port Machine

Brushless dual-electrical-port dual-mechanical-port machines (BLDDM) have been proven to be an efficient solution for realizing the independent control of dual mechanical ports. Regarding the issue of low torque density in BLDDM, a novel structure is proposed, where the third flux harmonic in the inner airgap is boosted and employed for magnetic field modulation. However, the high gear ratio also enhances the torque coupling between the dual rotors, making traditional proportional-integral (PI) controllers less suitable and challenging tuning parameters. In this paper, a model compensation-based active disturbance rejection control (MC-ADRC) is proposed in the speed loop of the BLDDM drive system to decouple the dual rotors. First, the electrical and mechanical models of the motor are established. Then, the state space equations are derived, with the torque coupling considered part of the unknown lumped disturbance for the extended state observer to estimate. Meanwhile, the criteria for determining the control parameters are discussed in detail, and the stability and robustness of the controller are thoroughly analyzed. Finally, the simulation and experiment are conducted to verify the effectiveness of the proposed method.