IEEE ITOEC(ISSN: 2693-289X)

Improved Neural Network LADRC for

Sensorless Control of PMSM
2023 IEEE 7th Information Technology and Mechatronics Engineering Conference (ITOEC) | 979-8-3503-3421-0/23/$31.00 ©2023 IEEE | DOI: 10.1109/ITOEC57671.2023.10291427

Shifan Sun1 , Wei Cui1

1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
Corresponding Author: Shifan Sun Email:[email protected]

Abstract—Active disturbance rejection control (ADRC) clear, which makes it very difficult to select it. If the
has been widely used in permanent magnet synchronous parameters are not properly selected, the controller
motor control because of its superior interference performance will be significantly reduced. On the basis of
feedforward compensation performance since it was LADRC, reference [2] proposes an improved LADRC,
proposed. However, due to the inaccuracy of the motor which adopts bandwidth method to realize parameter
parameter estimation and its change with the working state, setting of it, reduces the complexity of parameter setting,
when the motor is running at low speed, the fixed parameter and increases robustness and adaptability. Reference [3]
ADRC strikes a balance between dynamic performance and further analyzed the system performance of LADRC in
noise filtering, so it will produce excessive speed fluctuations.
time domain and frequency domain. Obviously, the core
To this end, the neural network is introduced into the linear
active disturbance rejection control (LADRC), and four
of ADRC lies in timely and accurate estimation of total
states are selected as the inputs of the neural network, and interference. However, for systems with large disturbance
two output values are assigned to the LADRC as system changes, ADRC with fixed parameters is difficult to
parameters. The use of the dynamic parameters can achieve the best control effect[4].
improve the robustness of the control system, reduce steady- With the rise of neural network, many scholars have
state speed fluctuations, and reduce reliability problems in applied it to the field of control. In the early stage, the BP
complex scenarios. Then the effectiveness of the proposed
neural network ADRC method used the given speed and
control method is verified by simulation. Finally, the
motor speed as the neural network input[5-6]. Some studies
proposed control method is applied to the sensorless control
of the high frequency square wave injection mode of defined the output as compensation for interference
permanent magnet synchronous motor, which reduces the estimation to speed up the estimation process. There are
speed fluctuation at low speed. also changes in the given speed and motor speed as the
neural network input[7] and the neural network speed loop
Keywords—neural network; LADRC; permanent magnet PI[8]. RBFNNC uses the difference between the output
synchronous motor; speed fluctuation value and the observed value of the TD as the input of the
neural network[9]. Due to the direct output of u0, there is a
I. INTRODUCTION probability of multiple oscillations. Reference [10] is a
particle swarm optimization algorithm based on Cauchy
Permanent magnet synchronous motor (PMSM) is variation. Although this improved method avoids local
widely used in all circles because of its superior structure optimal solutions, the selection of genetic operators is
and performance. Many researchers have developed many relatively complicated.
control methods, among which ADRC shows a broad
prospect. Compared with PI controller, the parameters of In order to achieve the optimal control effect with
PI are sensitive to external disturbance. If an unknown strong robustness and small steady-state speed fluctuation,
disturbance occurs, it will reduce the tracking accuracy of this paper first introduces the existing LADRC method
the system. If the PI parameter is adjusted according to the and PID controller of BP neural network, and then
actual situation, the system reliability will be reduced. To introduces the designed NNLADRC mode. Four variables
solve the above problems, adding nonlinear function to are selected as neural network inputs in the improved
the ADRC to track the error can not only make up for the cascade LADRC. The output of the neural network is
defects of PI control, but also inherit the advantages of PI taken as the control parameter of the LADRC system.
control. The ADRC usually consists of three parts: the
tracking differentiator (TD) is used to prevent overshoot II. EASE OF USE
of the system; the extended state observer (ESO) can
observe the internal state of the controlled object and is A. The Basic Principle of LADRC
the key to ensure the external interference compensation. The electromagnetic torque equation of PMSM can be
The effect of differentiation can be reduced by adding a written as:
nonlinear function after the feedback, whose output is the
input to the system. Over the years, fruitful results have 3 3
Te = n p f I s sin  + n p ( Ld − Lq ) I s sin 2
2
been achieved regarding ADRC parameter setting[1]. The (1)
ADRC has many parameters and their meanings are not 2 4

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 Where γ represents the electric Angle between the In this system, the interference from the first-level
stator and the permanent magnet flux ψf, TL is the load ESO observations is output to the second-level observer,
torque, B is the viscous friction coefficient, and J is the and ESO2 only estimates the amount of residual
moment of inertia. According to the above formula, the interference except for the variable z2. Finally, the total
derivative of the electrical angular velocity ωe can be interference is offset by the estimated sum of the
described as follows： cascading ESOs. Establishing improved LADRC can
eliminate the error effect of ramp input.
np B
e = (Te − TL ) − e = bI s + f (2)
B. PID controller using BP neural network
J J
The basic form of second-order ESO is: The principle of PID controller of BP neural network
is to make ek(n) gradually approach to zero through error
learning, and finally make the output of the structure close
  = xˆ1 − x1 to the expected value. If the type of the objective function

 pxˆ1 = xˆ2 + b0u + f ( xˆ1 , t ) − 1 () is determined, the method of error correction becomes an
 pxˆ = −   optimization problem.
 2 2
By transforming the transfer function of PID into
So the basic ESO block diagram can be obtained, as discrete domain, it can be modified into an incremental
shown in Fig. 1: digital PID control algorithm:
r(t)+ u(t)
System
y(t)
u (k ) = u (k -1) + kp[e(k ) - e(k -1)] + kie(k ) + (5)
-
. kd[e(k ) - 2e(k -1) + e(k - 2)]
B
+
^x(t)
^
x(t) C ^y(t) +
-
+ + Suppose that a three-layer n-6-3 BP neural network is
A
designed now, the input of the network is n, the dimension
L
of the middle layer is H=6, and the result of the output
K
layer is 3, that is, kp, ki and kd of the PID controller. This
results in the structure shown in Fig. 3.
Fig. 1. Traditional ADRC structure diagram

In order to further improve tracking performance and

robustness to interference, the new research has developed
improvements on the basis of traditional LADRC, as
shown in Fig. 2.
we* + e
Kp
u0 + 1
—
- System ^w
e

- - b
z2+s2
β04 s2 + + z2 β02
—s —s
+ + +
β03 + + + +
-es1 + β01
-e1 -
s1 1 z1
1
—
s —
s Fig. 3. Structure diagram of BP neural network

The input layer of the neural network is:

Fig. 2. Structure diagram of Cascading LADRC
Oj (1) = x( j ) (6)
The estimated values of the parameters are as follows:
The output of the hidden layer is:
 3 2  n
 b = 2 J n p  f sin   neti (k ) =  wij Oj , j = 1, 2n
( 2) ( 2) (1)

  j =1 (7)
 b = 3 n 2ˆ sin ˆ Oi ( 2) (k ) = f (neti ( 2) (k )), i = 1, 2,..., H
 () 
2 Jˆ
p f

 2
 f = 3 n p ( L − L ) I 2 sin  cos  − Where, wij(2) is the weighted change matrix of the
 2 J
d q s hidden layer. The hidden layer will gradually change with
 the change of the weighted matrix until the set
 n p T − B  + (b − b ) I performance index reaches a certain requirement. Its task

L e s
J J is to convert the input information for the first time, and
then activate it through the neuron activation function of

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 the layer. Activation function Select the Sigmoid function In the above formula, the result of deflecting the
f(x) as follows: weighted matrix by the output of the third layer when it is
not activated can be expressed as:
e x − e− x
f ( x) = tanh( x) = (8)
e x + e− x  netl(3) (k )
= Oi(2) (k ) (14)
The output of the output layer is:  wl(3)
i (k )

 (3) H Since the second term on the right side of the equation
 neti (k ) =  wli Oi (k ) is not easy to find, it can be replaced by a symbolic
(3) (2)

 i =1 (9) function without specific changes. The effect of the

 Ol (3) (k ) = g (netl (3) (k )) resulting calculation inaccuracies is reduced by adjusting

the learning rate. The first term on the right side of the
Thus the parameters of the control system can be equation relates to the custom performance E(k), whose
obtained: partial value to the system output value is ultimately
determined by the input and output, here assuming the
 O1 (k ) = kp
(3)

 (3) partial value e(k). The weighted variation of each output

 O 2 (k ) = ki (10) layer of the neural network can be obtained:
 O3(3) (k ) = kd
  Δwli(3) (k ) =  Δwli(3) (k − 1) +  l(3) Oi(2) (k )
 (15)
Where, Ol(3)(k)
represents the l-th (l = 1, 2 or 3)   y (k )   u (k )
parameters output by the output layer at time k, and the
 (3)
 l = e(k )sgn   u (k ) 

(3)
  Ol (k )
(
g  netl(3) (k ) )

data processed by the neural network is obtained from the
outside world. These three visual data can learn and Where:
update themselves, and the corresponding variables of the
external term can be modified in real time after the  2
activation function. The activation function g(x) can be set g '( x) = x −x 2
 (e + e ) (16)
as follows:  l = 1, 2,3

ex
g ( x) = (11) Similarly, the amount of change at each step of the
e x + e− x hidden layer network can be determined by the following
The modification of the weighting matrix of the formula:
hidden layer should aim at the optimal performance index.
wij(2) (k ) = wli(2) (k − 1) +  i(2) O(1)j (k )
Therefore, we can find the negative partial derivative of 
the performance index to the weighted parameter at a 
 (2) 3 (17)
certain learning rate to make it gradually close to the
target matrix.
( (2)
  i = f ' neti (k )

) l(3) wl(3)
i (k )b
 l =1

In order to adjust the rapidity of the process, the inertia Where:

value of the weighted matrix at the last moment should be
added after obtaining the partial derivative. Therefore, the f ' ( x ) = (1 − f ( x)2 ) / 2 ()
weighting matrix of the hidden layer calculated at each
step can be adjusted according to the following formula:
III. PROPOSED METHOD
E (k ) According to the basic principle of BP neural network,
wli (3)
(k ) = − +  wli (3) (k − 1) (12)
 wli (3) a 4-5-2 layer neural network is constructed in this paper.
The performance indicators selected by the constructed
Where η is the learning rate and α is the inertia neural network are as follows:
coefficient. In order to understand the relationship
between the performance index and the deflection of the (rgive (k ) − yout (k ) + rgive (k ) − z1 (k )) 2
weighted matrix, it is necessary to expand it. First, the E (k ) = (19)
transfer function y of the target object is deflected, and 2
then the output value u(k), output of the output layer In the traditional neural network PID, the difference
Ol(3)(k), activation function input netl(3)(k), and network between the given speed and the actual speed is usually
wli(3)(k) are respectively deflected, and then the following multiplied by the proportional coefficient and differential
formula is obtained: error as the input of the neural network, and the output has
 E (k )  E (k )  y (k )  u (k )  Ol(3) (k )  netl(3) (k ) (13)
only one term, and the output is added with f=-(z2+s2) in
= Fig. 2, which means that this method only compensates
 Δwli (3)  y (k )  u (k )  Ol(3) (k )  netl(3) (k )  wli(3) (k ) for the estimated interference, thus enhancing the anti-

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 interference performance. But this does not reduce steady- is introduced, that is, after the given speed, it is divided
state speed fluctuations. into two parts x1 and x2 through the transition mode of
formula (23), and the resulting error is subtracted with the
According to the analysis, the variable f in ADRC is LADRC velocity tracking parameter z1 and the derivative
an estimation of interference. Compared with the speed z2 of z1, and then u0 is obtained through a nonlinear link.
loop PI adjustment mode, it replaces the integral link of This reduces overshoot for a given change in speed.
the traditional PID controller with f. Therefore, it has
certain synchronization to the load interference, so it can  temp = - r 2 *( x1(k − 1) - rgive) - 2* r * x 2(k − 1)
be selected as the input of the neural network. 
 x1 (k ) = x1 (k − 1) + x2 (k − 1) * h (23)
In this paper, there are four inputs selected by the  x 2(k ) = x 2(k − 1) + temp * h
neural network, which are: 1. Given speed. 2. The speed 
feedback of the motor. 3. Speed difference. 4. The In the formula, h represents the time step and r is the
variation of the interference item f estimated in LADRC variable of speed tracking. Given the speed rgive, two
every 0.001s which needs to be multiplied by a coefficient transitive dynamic variables x1 and x2 will be output. The
to pull the four items to the same level value. Therefore, structure of the transition process is shown in Fig. 5.
the input can be expressed as:
+ e1
xi = [rgive , yout , error, f ] (20) we* Nonlinear
TD + - e2 Function u0
The output of the proposed neural network has two -
terms, namely, the proportional coefficient K and the
integral coefficient β in the active disturbance rejection z1 pz1
control, which are added to the output value of the neural
network on the basis of a small steady-state basic value, Fig. 5. TD structure diagram
and then a set of dynamic parameters that can meet the
rapidity of resisting interference and reduce the steady- Since the cascaded state observer has two outputs of
state speed fluctuation can be obtained. The output can be interference observations, namely z2 and s2, in order to
expressed as: offset the influence of interference, the feedforward
compensation output values of the improved LADRC are
xout = [ K ,  ] (21) as follows:
Compared with the ordinary velocity loop PI u0 − ( z 2 + s2 )
controller, it can be seen that the auto-disturbance u= (24)
b
rejection control in this paper uses an adjusted cascade
state observer, whose interference term f compensates the The variables s1 and z1 play the same role in tracing
interference in a feedforward manner, and the original the state variable x1. In addition, s2 provides an estimate of
integral term is replaced by this term. According to the the residual interference, namely f-z2, to complement the
above analysis, the incremental error signal is designed: initial estimate of the interference in LESO1. To simplify
parameter adjustment, LESO1 and LESO2 have the same
eADRC = error ( k ) − error ( k − 1) , yout − z1  (22) gain selection. According to the bandwidth and parameter
optimization analysis, all closed-loop poles are assigned at
The structure of the proposed neural network is shown -wc=-β, then the gain variable in the observer can be
in Fig. 4: configured according to formula (25). Obviously, the
larger the beta selected, the faster the tracking state
observer will track. However, the filtering performance of
noise deteriorates with the increase of β.
L = [01 02 ]T = [03 04 ]T = [2  2 ]T (25)
In traditional LADRC with fixed parameters, if the
selection of β is too large to filter the noise, and if the
selection of β is too small, the estimated speed will be
slow, so the selection of β must be balanced between the
speed of state reconstruction and the anti-noise ability. In
the proposed neural network linear active disturbance
rejection control (NNLADRC) method, parameters K and
β are automatically updated with the change of neural
Fig. 4. The proposed neural network structure diagram network input, so it can not only obtain a faster state
observation speed in dynamic condition, but also reduce
In order to reduce the overshoot when the speed the influence of noise and speed fluctuation in steady state.
changes in the auto-disturbance rejection control, the TD

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 1
K
The proposed structure is shown in Fig. 6. In the
2
NNC NNLADRC module, the given speed, motor speed, speed
3
4
β difference and interference item change are selected as the
input of the neural network control module, and then the
K output results are fed back to the LADRC. This part
we * + e2
Nonlinear
u0
+ 1 u ^e
w
replaces the traditional double closed loop speed loop PI
TD + - e1
Function —
-
b
System
module, improves the dynamic performance of motor
- 4
-
1
z2+s2
- control and reduces the steady speed fluctuation.
pz1 3
β² s2 + + z2 β²
—
s
+
—
s After the LADRC based on neural network is designed,
+ +
+ + +
2β -e
+ it will be added into the overall structure of Fig. 7,
1
2
-es1
2β
+
-
z1 represented by the letter NNLADRC. The input of the
s1
1 module is the given speed and the actual speed of the
—
1 —
s
s motor, and the output can be given a current loop through
the control mode of MTPA or id=0, and the PI controller
Fig. 6. LADRC structure diagram of neural network
is still used for the current loop.

id ud u
PI
MTPA or + dq SVPWM uabc PMS
-
id=0 iq uq u Converter M
+
PI 
-
θ
id dq i 
wr*
NNLADRC LPF i
iq iabc
 abc
wr

Fig. 7. Motor control system overall structure diagram

quickly return to a small error state, and the steady speed

IV. RESULTS fluctuation will be more stable.
In order to verify the control performance of the
NNLADRC system, a simulation model is established in
MATLAB/Simulink. The MATLAB/Function module is
n/(r/min)

used to realize the weight update of the neural network.

The discrete sampling time of the module is set to 1e-4,
and the variation of interference is updated every 10
samples. The relevant parameters of the motor are shown
in Table 1. t/s

Fig. 8. Speed curve of LADRC using neural network

TABLE I. PARAMETERS OF PMSM
Take the load disturbance at 10 seconds in Fig. 8 as an
Parameters Value Parameters Value
example, as shown in Fig. 9. The peak value of the
Rated Voltage, (U/V) 60 Rated Speed, n 3000 motor's steady-state speed fluctuation is 0.3r/min, and it
Resistance, (R/Ω) 1.2 Pole Pairs, p 2
returns to less than 10% of the given speed within 0.05s of
the sudden load, and then gradually stabilizes, and the
d-axis Inductance, Moment of Inertia,
(Ld/mH)
7.6
(J/kg·m2)
0.0008 steady state has been restored at 0.1s, meeting the required
q-axis Inductance, robustness and stability.
19.1 Flux linkage, (ψf/Wb) 0.28
(Lq/mH)
The given speed of the motor is set to 30r/min, and the
load is continuously increased and decreased, and the
n/(r/min)

results are shown in Fig. 8. The output result of the neural

network is given to the proportional variable k and the
integral parameter β of the ADRC control, which is the
ADRC control parameter that changes with the change of t/s
disturbance. The neural network will quickly adjust the
output to make the speed change rapidly when the motor Fig. 9. Enlarged speed curve
speed is relatively different from the given speed, and
gradually stabilize the speed when the motor speed is After using the proposed NNLADRC, observe the
relatively different from the given speed. It can be seen variables in the simulation as shown in Fig. 10 (per-unit
that when there is a load disturbance, the speed will value). It can be seen that the estimated interference term f

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 will change with the change of load, and the resulting Angle from top to bottom. Here the TD link is reduced to
change in the output value of the neural network makes reduce the impact on speediness.
the error of the observer integral term z_err=w-z1 rapidly
It can be seen from the results that the proposed
approach zero, meeting the requirement of the neural
network error approaching zero, and finally the motor method is an excellent control method, which successfully
speed will stabilize to the given value. guarantees the motor speediness without excessive
overshoot and reduces the steady speed fluctuation
f
without requiring accurate motor parameters.

z_err
V. CONCLUSIONS
f
z_err
Since the traditional LADRC steady-state speed
fluctuates greatly and the motor’s parameters are not
accuracy, a NNLADRC model is designed in this paper to
t/s
realize the parameter self-adjustment of the state observer.
Fig. 10. Overall structure diagram of motor control system
The proposed model significantly reduces the requirement
of model accuracy, effectively improves the control
The output parameters K and β of the neural network problem of complex disturbance, and has good tracking
are shown in Fig. 11. It can be seen that when the motor is accuracy and small steady-state speed fluctuation. The
started and whenever the load torque is increased, the simulation and experimental results show that the
output value of the neural network will increase rapidly, proposed method is robust and fast, and can be used in the
then decrease rapidly, and then slowly rise until the motor sensorless control mode of high frequency square wave
speed reaches the given value and stabilizes. When the injection of permanent magnet synchronous motor to
load is reduced, the β will suddenly decrease, then rise reduce the speed fluctuation at low speed.
rapidly, and then slowly decline until the motor speed is
stable. Compared with the traditional ADRC, the REFERENCES
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