Current decoupling control method based on improved active disturbance rejection controller

Abstract

The application belongs to the technical field of motor control, and particularly relates to a current decoupling control method based on an improved active disturbance rejection controller. The method comprises the following steps: S1, constructing a permanent magnet synchronous motor current loop mathematical model containing lumped disturbance; S2, based on the permanent magnet synchronous motor current loop mathematical model constructed in S1, constructing an improved extended state observer; S3, constructing an improved active disturbance rejection controller, inputting a lumped disturbance primary estimation value and a lumped disturbance secondary estimation value into the improved active disturbance rejection controller for feedback compensation, and realizing complete decoupling of tracking performance and anti-disturbance performance of the current loop. The application realizes complete decoupling control of the current loop, greatly reduces the complexity of control parameter setting, and provides greater design flexibility for system performance optimization.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology, and particularly relates to a current decoupling control method based on an improved active disturbance rejection controller. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs), with their high efficiency, high torque density, and excellent control precision, have become core drive devices in high-end fields such as electric vehicles, precision servo systems, and defense equipment. However, various disturbances and uncertainties encountered during motor operation severely affect system performance and control precision. Compared to traditional control strategies that rely on precise modeling, Active Disturbance Rejection Control (ADRC) actively estimates and cancels internal and external disturbances, achieving stable operation of PMSMs under parameter variations and external interference. However, traditional ADRC methods face the problem of coupling tracking performance and disturbance rejection performance in applications, which restricts the improvement of overall system performance. Summary of the Invention

[0003] In view of this, the present invention aims to provide a current decoupling control method based on an improved active disturbance rejection controller to solve the problem of coupling between tracking performance and disturbance rejection performance in the application of the prior art. The present invention achieves complete decoupling control of the current loop, which greatly reduces the complexity of controller parameter tuning and provides greater design flexibility for system performance optimization.

[0004] To achieve the above objectives, the technical solution created by this invention is implemented as follows:

[0005] A current decoupling control method based on an improved active disturbance rejection controller is used to realize current decoupling control of a permanent magnet synchronous motor, specifically including the following steps:

[0006] S1: Construct a mathematical model of the current loop of a permanent magnet synchronous motor that includes lumped disturbances:

[0007]

[0008] Among them, i sd For the d-axis stator current, i sq f is the q-axis stator current. d_kn and f q_kn Given perturbations along the d-axis and q-axis respectively, f d_ukn and f q_ukn These represent the unknown total disturbance along the d-axis and the unknown total disturbance along the q-axis, respectively. sd and u sq These are the d-axis stator voltage and q-axis stator voltage, respectively; b0 is the controller's nominal gain; h d and hq f d_ukn First-order differential and f q_ukn The first differential, b0 = 1 / L s0 L s0 This is the nominal value of the inductance.

[0009] S2: Based on the mathematical model of the permanent magnet synchronous motor current loop constructed in S1, an improved extended state observer is constructed. The improved extended state observer includes a first-level observer and a second-level observer. The first-level observer makes an initial estimate of the d-axis stator current, q-axis stator current and lumped disturbance of the permanent magnet synchronous motor. The second-level observer makes a secondary estimate of the lumped disturbance of the permanent magnet synchronous motor based on the estimated values ​​of the d-axis stator current, q-axis stator current and the initial estimate of the lumped disturbance output by the first-level observer, and obtains the secondary estimate of the lumped disturbance.

[0010] S3: Construct an improved active disturbance rejection controller, input the initial estimate and the secondary estimate of the lumped disturbance to the improved active disturbance rejection controller for feedback compensation, so as to achieve complete decoupling of the tracking performance and disturbance rejection performance of the current loop.

[0011] Furthermore, the permanent magnet synchronous motor is a surface-mounted permanent magnet synchronous motor.

[0012] Furthermore, lumped disturbances include periodic disturbances and aperiodic disturbances.

[0013] Furthermore, the first-level observer is:

[0014]

[0015]

[0016] in, and These are the d-axis current and q-axis current observed by the first-stage observer, respectively. and These are the total d-axis perturbation and total q-axis perturbation observed by the first-level observer, e 1d and e 1q Both β1 and β2 represent the current observation error of the first-stage observer, while β1 and β2 represent the gain of the improved extended state observer.

[0017] Furthermore, the second-level observer is:

[0018]

[0019] in, and These are the d-axis and q-axis currents observed by the second-stage observer. and These are the total d-axis perturbation and total q-axis perturbation observed by the second-stage observer, e 2d and e 2q All of these are current observation errors from the second-stage observer.

[0020] Furthermore, the lumped disturbance observed by the improved extended state observer along the d-axis is: The lumped disturbance observed on the q-axis by the improved extended state observer is:

[0021] Furthermore, the transfer function of the improved active disturbance rejection controller on the d-axis and for:

[0022]

[0023] Among them, i sd This represents the current value along the d-axis. The d-axis current reference value is given, β1 and β2 are both gains of the improved extended state observer, and k... pd The gain coefficient of the current loop controller on the d-axis;

[0024] Transfer function of the improved active disturbance rejection controller on the q-axis and for:

[0025]

[0026] Among them, i sq This represents the current value along the q-axis. The current reference value is the q-axis value, β1 and β2 are both gains of the improved extended state observer, and k pq is the gain coefficient of the current loop controller on the q-axis.

[0027] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0028] This invention presents a current decoupling control method based on an improved active disturbance rejection controller. It improves the Extended State Observer (ESO), enhancing low-frequency disturbance suppression while eliminating gain overflow. Furthermore, this invention proposes an improved active disturbance rejection controller that not only possesses better disturbance suppression performance but also achieves complete decoupling control of the current loop, significantly reducing the complexity of control parameter tuning and providing greater design flexibility for system performance optimization. Attached Figure Description

[0029] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0030] Figure 1 A block diagram of the control system structure of the permanent magnet synchronous motor described in the embodiments of the present invention;

[0031] Figure 2 A schematic flowchart of the current decoupling control method based on an improved active disturbance rejection controller as described in an embodiment of the present invention;

[0032] Figure 3 The structural block diagram of the improved active disturbance rejection controller described in the embodiments of the present invention;

[0033] Figure 4 The temporal perturbation estimation error diagrams of CESO and IESO under different perturbation effects are created according to the embodiments of the present invention;

[0034] Figure 5 Bode plots of interference estimation error transfer functions for CESO and IESO under different bandwidths as described in the embodiments of the present invention;

[0035] Figure 6 The dq-axis current waveforms of the traditional ADRC and the improved ADRC under the same control parameters described in the embodiments of the present invention;

[0036] Figure 7 The dq-axis current waveforms of the improved ADRC under different control parameters described in the embodiments of the present invention are shown. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0039] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] In traditional Active Disturbance Rejection Control (ADRC), the system's tracking accuracy and disturbance rejection capability are interrelated. The disturbance rejection capability is affected by the controller gain, leading to complex parameter tuning and making it difficult to optimize both performance aspects simultaneously. Furthermore, the traditional Conventional Extended State Observer (CESO) exhibits steady-state error when facing ramp disturbances, infinite error under acceleration disturbances, and significant error oscillation under sinusoidal disturbances. It also has weak low-frequency disturbance suppression capability, and CESO experiences amplitude gain overflow exceeding 0 dB at specific frequencies (e.g., close to 100 rad / s), affecting estimation stability. To address these issues, this invention proposes an improved extended state observer, employing a two-stage cascaded structure: the first-stage observer provides a preliminary estimate of the state and disturbance through proportional-integral feedback, while the second-stage observer further corrects the error of the first-stage observer, forming dual disturbance compensation. Compared to CESO, the improved extended state observer achieves zero steady-state error for ramp disturbances, and its error for acceleration disturbances can be reduced by increasing the bandwidth. It also exhibits less oscillation for sinusoidal disturbances and improves the low-frequency amplitude characteristic slope to -40dB / dec without gain overflow. Furthermore, this invention feeds back the lumped disturbance estimated by the improved extended state observer to the control unit in real time for compensation, and uses the estimated value from the improved extended state observer instead of the direct measurement signal, further avoiding interference from measurement noise. Finally, the improved active disturbance rejection controller of this invention achieves complete decoupling of tracking performance and disturbance rejection performance, simplifying the parameter tuning process.

[0043] like Figure 1 As shown, firstly, the difference between the given speed command and the actual speed command is calculated and then output as a q-axis current command via a PI speed regulator. Subsequently, the system receives current reference values ​​for the d-axis and q-axis as input current commands. By comparing the reference current with the actual feedback current, a current tracking error signal is obtained. This signal is input to an improved active disturbance rejection controller (ADRC). An improved extended state observer within the ADRC estimates the system's lumped disturbance in real time. Combining the lumped disturbance estimate with the linear state error feedback control law, voltage control signals for the d-axis and q-axis are generated. These signals are processed by a coordinate transformation and space vector pulse width modulation (SVPWM) module, transforming them into inverter switching signals. Under DC bus voltage supply, the permanent magnet synchronous motor is driven. The actual current and mechanical angular velocity of the motor during operation are collected in real time and fed back to the improved ADRC and PI speed regulator, forming a closed-loop control and achieving precise current decoupling control.

[0044] The following is combined Figure 2This invention provides a detailed description of the current decoupling control method based on an improved active disturbance rejection controller proposed in the embodiments of the present invention, specifically as follows:

[0045] S1: Construct a mathematical model of the current loop of a surface-mounted permanent magnet synchronous motor that takes into account disturbances.

[0046] First, the stator current equation for a surface-mounted permanent magnet synchronous motor is given:

[0047]

[0048] In the formula, i sd and i sq These are the d-axis stator current and the q-axis stator current, respectively. sd and u sq These are the d-axis stator voltage and the q-axis stator voltage, respectively, n p For the extreme logarithm, ω m R is the mechanical angular velocity. s For the stator resistance, ψ f It is a permanent magnet flux linkage, L sd and L sq These are the d-axis inductance and the q-axis inductance, respectively, satisfying L sd =L sq .

[0049] Furthermore, the permanent magnet synchronous motor model considering parameter variations and internal and external uncertainties can be described as follows:

[0050]

[0051] In the formula, ΔL d =L d -L d0 ΔL q =L q -L q0 L d0 =L q0 =L s0 ΔR s =R s -R s0 , Δψ f =ψ f -ψ f0 L s0 R s0 and ψ f0 These represent the nominal values ​​of inductance, resistance, and magnetic flux, respectively, δ d and δ q These represent unmodeled disturbances such as internal and external uncertainties on the d-axis and q-axis, respectively.

[0052] Based on equation (2), the d-axis stator current i is selected. sd and q-axis stator current i sqAs a state variable, its state equation is described as follows:

[0053]

[0054] Among them, f d_kn and f q_kn Given perturbations along the d-axis and q-axis respectively, f d_ukn and f q_ukn These represent the unknown total disturbance along the d-axis and the unknown total disturbance along the q-axis, respectively. b0 is the nominal gain of the controller, b0 = 1 / L. s0 , is a constant.

[0055] The known perturbations along the d-axis and q-axis, as well as the unknown total perturbations along the d-axis and q-axis, are as follows:

[0056]

[0057] Based on equations (4) and (5), the d-axis has a known disturbance f. d_kn and the known perturbation f along the q-axis q_kn It makes full use of the known model information of the controlled system, reducing the observation burden of the extended state observer.

[0058] The aggregated disturbance f d_ukn and f q_ukn Defined as the extended state of the system, equation (3) can be rewritten as:

[0059]

[0060]

[0061] Among them, h d f d_ukn The first differential, h q f q_ukn The first differential.

[0062] Step S2: Design an improved extended state observer to estimate lumped disturbances.

[0063] Based on equations (6) and (7), the traditional Extended State Observer (CESO) is:

[0064]

[0065] To improve the perturbation estimation capability of the extended state observer, this invention proposes an improved extended state observer, which consists of two cascaded observer stages. The first-stage observer estimates the state through proportional-integral feedback. Total disturbance

[0066]

[0067]

[0068] The second-stage observer passes through and The error is further corrected, forming a dual disturbance compensation:

[0069]

[0070] In the formula, and These are the d-axis current and q-axis current observed by the first-stage observer, respectively. and These are the total d-axis and q-axis disturbances observed by the first-level observer, representing the initial estimates of the lumped disturbance. and These are the d-axis and q-axis currents observed by the second-stage observer. and The total d-axis and q-axis disturbances observed by the second-level observer are quadratic estimates of the lumped disturbance. Therefore, the final estimates of the lumped disturbances along the d and q axes by the improved extended state observer are respectively...

[0071] β1 and β2 are the observer gains, which can be tuned according to the pole placement strategy as follows:

[0072]

[0073] Where, ω o The bandwidth of the first-level observer or the second-level observer.

[0074] Taking the derivation of the q-axis correlation equation as an example (the calculation method of the d-axis is the same as that of the q-axis), based on equations (7) and (8), the perturbation estimation error transfer function of the traditional extended state observer can be derived. and perturbation estimation transfer function They are respectively:

[0075]

[0076] Similarly, based on equations (7), (11), and (12), the perturbation estimation error transfer function of the improved extended state observer can be derived. and perturbation estimation transfer function They are respectively:

[0077]

[0078] Based on equations (15) and (16), when the q-axis is unknown, the total disturbance f q_uknThe step signal M, the ramp signal Mt, and the acceleration signal 0.5Mt are given. 2 Or a sinusoidal signal M sin(ω) h At time t), the time-domain expressions for the traditional extended state observer and the improved extended state observer can be derived as follows:

[0079]

[0080]

[0081] In the formula, the step perturbation estimation errors of the traditional extended state observer (CESO) and the improved extended state observer (IESO) are respectively... and The slope disturbance estimation errors of CESO and IESO are respectively and The acceleration perturbation estimation errors for CESO and IESO are respectively and The sinusoidal perturbation estimation errors of CESO and IEO are respectively and t represents time, in seconds.

[0082] Based on the relationships between equations (17), (18), (19), and (20), this invention plots the perturbation estimation errors of CESO and IESO in the time domain, as shown below. Figure 4 As shown, where M=-1,ω o =200 rad / s.

[0083] Analysis results show that when the system is subjected to a step disturbance M, both CESO and IESO can achieve zero steady-state estimation error; when the system is subjected to a ramp disturbance Mt, CESO exhibits a magnitude of 2M / ω. o The steady-state estimation error is greater than that of the previous system, while the IESO system can still maintain zero steady-state estimation error; when the system is subjected to an acceleration disturbance of 0.5Mt, the steady-state estimation error is greater than that of the previous system. 2 At that time, compared with the infinite steady-state error of CESO, the steady-state error of IESO can be increased by ω. o To reduce; when the system is subjected to a sinusoidal disturbance M sin(ω) h At time t), both observers exhibit steady-state estimation errors, but the oscillations of IESO are significantly smaller. This demonstrates that IESO has superior performance in perturbation estimation.

[0084] like Figure 5As shown, in the low-frequency range, the slope of the amplitude response curve of IESO is -40dB / dec, which is better than that of CESO (-20dB / dec), indicating that IESO has a stronger low-frequency interference estimation capability. It is worth noting that CESO's amplitude gain exceeds 0dB near 100rad / s, exhibiting overflow, while IESO's gain remains below 0dB across the entire frequency range, demonstrating more stable estimation performance.

[0085] Step 3: Feed back the lumped disturbance estimated in Step 2 to the control terminal for compensation, and then design a reasonable control law to suppress and eliminate the disturbance signal.

[0086] Define the d-axis current reference value and the q-axis current reference value as follows: and Define the d-axis current tracking error and the q-axis current tracking error as follows: and Combining equation (3), the error dynamic equation is derived to describe the variation law of current tracking error:

[0087]

[0088] in, The rate of change of the d-axis current tracking error. This represents the rate of change of the q-axis current error. The rate of change of the d-axis reference current. The rate of change of the q-axis reference current. Let be the rate of change of the d-axis current. Let be the rate of change of the q-axis current.

[0089] Based on the dynamic characteristics of the error, a convergence law for the expected error is proposed:

[0090]

[0091] Where, k pd and k pq These are the current loop controller gain coefficients for the d-axis and q-axis, respectively.

[0092] Substituting the error dynamic equation into the expected error convergence law, we obtain the control law as follows:

[0093]

[0094] In equation (23), since f d_ukn and f q_ukn Since these values ​​are difficult to obtain directly, the system uses real-time observations for dynamic compensation. To further suppress measurement noise interference, the observer estimates are used. Replacing the direct measurement signal i respectively sd and i sq The control law (Equation (23)) is rewritten as:

[0095]

[0096] The specific structure of the improved active disturbance rejection controller of the present invention is as follows: Figure 3 As shown, the improved current control algorithm of the improved active disturbance rejection controller consists of two parts: a control law and an improved extended state observer. The improved extended state observer estimates and compensates for disturbances in the control law, and the voltage output of the control law is applied to the permanent magnet synchronous motor for control, achieving complete decoupling of the tracking performance and disturbance rejection performance of the current loop. Simultaneously, the output current of the permanent magnet synchronous motor is fed back to the IESO and the control law in real time for calculation.

[0097] In traditional active disturbance rejection control (ADRC), by combining equations (7), (9), and (24), the q-axis step current reference is used. to q-axis current output i sq transfer function And the total disturbance f along the q-axis q_ukn to q-axis current output i sq transfer function It can be described as:

[0098]

[0099] Based on formula (25), it can be seen that under the input of a step reference current, the anti-interference capability of the traditional ADRC is affected by the controller gain k. pq The influence of this indicates a coupling relationship between the system's tracking accuracy and anti-interference capability, increasing the complexity of the controller parameter tuning process.

[0100] Similarly, combining equations (7), (11), (13), and (14), taking the derivation of the q-axis related equation as an example (the calculation method for the d-axis is the same as that for the q-axis), the transfer function of the improved active disturbance rejection controller on the q-axis is... and transfer function This can be deduced as:

[0101]

[0102] From equation (26), we can see that: Gains β1 and β2 without IESO Gain k without control law pq The IESO and gain k were completely eliminated. pqTherefore, the system's tracking performance and disturbance rejection performance are independent of each other and do not affect each other. The improved active disturbance rejection controller of this invention achieves complete decoupling between tracking performance and disturbance rejection performance.

[0103] Figure 6 The dq-axis current waveforms of a traditional active disturbance rejection controller (ADRC) and an improved ADRC are presented under the same parameters. Figure 6 It is known that traditional active disturbance rejection controllers generate large current ripple. The improved active disturbance rejection controller proposed in this invention not only inherits the good tracking performance of traditional active disturbance rejection controllers, but also exhibits smaller current ripple.

[0104] Figure 7 The dq-axis current waveforms of the improved active disturbance rejection controller under different control parameters are shown. Figure 7 (a) in Figure 6 The result of reducing the gain of the improved active disturbance rejection controller based on (b) in the above. Figure 7 (b) in the middle is Figure 6 The result of increasing the bandwidth of the improved extended state observer based on (b) in section (b). Compare... Figure 6 (b) and Figure 7 As can be seen in (a), reducing the gain of the improved active disturbance rejection controller leads to a significant decrease in system tracking performance, but the current ripple level remains essentially unchanged. (Comparison) Figure 6 (b) and Figure 7 As shown in (b), increasing the bandwidth of the improved extended state observer reduces current ripple and significantly improves the system's disturbance rejection capability, while the current dynamic response time remains essentially unchanged. The above analysis indicates that in the invented improved ADRC, the controller parameters only adjust the reference tracking characteristics, while the observer parameters are dedicated to optimizing disturbance rejection capability.

[0105] Therefore, the improved active disturbance rejection controller proposed in this invention exhibits more stable disturbance observation capability and stronger disturbance suppression capability compared with the traditional active disturbance rejection controller. It successfully solves the problem of mutual coupling between system tracking performance and disturbance rejection performance in the traditional active disturbance rejection control algorithm, and breaks through the design bottleneck of mutual constraint between dynamic response and robustness in the traditional control strategy.

[0106] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0107] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A current decoupling control method based on an improved active disturbance rejection controller, used to realize current decoupling control of a permanent magnet synchronous motor, characterized in that: Specifically, the steps include the following: S1: Construct a mathematical model of the current loop of a permanent magnet synchronous motor that includes lumped disturbances: ； ； in, This refers to the d-axis stator current. This is the q-axis stator current. and The perturbations are known along the d-axis and the q-axis, respectively. and These represent the unknown total disturbance along the d-axis and the unknown total disturbance along the q-axis, respectively. and These are the d-axis stator voltage and the q-axis stator voltage, respectively. The nominal gain of the controller. and They are respectively First-order differential and The first-order differential, , This is the nominal value of the inductance. S2: Based on the mathematical model of the permanent magnet synchronous motor current loop constructed in S1, an improved extended state observer is constructed. The improved extended state observer includes a first-level observer and a second-level observer. The first-level observer makes an initial estimate of the d-axis stator current, q-axis stator current and lumped disturbance of the permanent magnet synchronous motor. The second-level observer makes a secondary estimate of the lumped disturbance of the permanent magnet synchronous motor based on the estimated values ​​of the d-axis stator current, q-axis stator current and the initial estimate of the lumped disturbance output by the first-level observer, and obtains the secondary estimate of the lumped disturbance. S3: Construct an improved active disturbance rejection controller, input the initial estimate and the second estimate of the lumped disturbance to the improved active disturbance rejection controller for feedback compensation, so as to achieve complete decoupling of the tracking performance and disturbance rejection performance of the current loop; Transfer function of the improved active disturbance rejection controller on the d-axis and for: ； in, This represents the current value along the d-axis. This is the current reference value for the d-axis. and All are improved extended state observer gains. The gain coefficient of the current loop controller on the d-axis; Transfer function of the improved active disturbance rejection controller on the q-axis and for: ； in, This represents the current value along the q-axis. This is the current reference value for the q-axis. and All are improved extended state observer gains. is the gain coefficient of the current loop controller on the q-axis.

2. The current decoupling control method based on an improved active disturbance rejection controller according to claim 1, characterized in that: The permanent magnet synchronous motor is a surface-mounted permanent magnet synchronous motor.

3. The current decoupling control method based on an improved active disturbance rejection controller according to claim 1, characterized in that: Lumped disturbances include periodic disturbances and aperiodic disturbances.

4. The current decoupling control method based on an improved active disturbance rejection controller according to claim 1, characterized in that: The first-level observer is: ； ； in, and These are the d-axis current and q-axis current observed by the first-stage observer, respectively. and These are the total d-axis perturbation and the total q-axis perturbation observed by the first-level observer. and All of these are current observation errors from the first-stage observer. and All are gains of the improved extended state observer.

5. The current decoupling control method based on an improved active disturbance rejection controller according to claim 4, characterized in that: The second-level observer is: ； ； in, and These are the d-axis and q-axis currents observed by the second-stage observer. and These are the total d-axis perturbation and the total q-axis perturbation observed by the second-stage observer. and All of these are current observation errors from the second-stage observer.

6. The current decoupling control method based on an improved active disturbance rejection controller according to claim 5, characterized in that: The lumped disturbance observed along the d-axis by the improved extended state observer is: The lumped disturbance observed on the q-axis by the improved extended state observer is: .

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