The invention discloses a motor active-disturbance-rejection control method based on improved particle swarm-bacterial foraging, and belongs to the field of
motor control. The implementation method comprises the following steps: determining an absolute value integral ITAE function as an optimization target; in a motor rotating speed-
current loop second-order ADRC control link, parameters such as ESO
gain, NLSEF
gain, nonlinear factors, control coefficients and linear interval width are screened, and a vector X to be optimized is formed; an improved PSO-BFO
algorithm is adopted to realize parameter optimization, particle speed and position are updated through PSO, PSO average speed is introduced to guide BFO to execute foraging, an individual optimal pbest and
global optimal gbest updating mechanism is combined, an end condition that J value change rate of continuous two times of gbest is smaller than a set error epsilon or reaches the maximum iteration number T is taken as a termination condition, and ADRC optimal parameters are output. And according to the ADRC optimal parameters, motor active-disturbance-rejection control is realized, and the rotating speed tracking precision, the dynamic response speed and the disturbance rejection capability of the motor are improved.