为了提高永磁同步电机(PMSM)电流环的电流解耦效果，提出一种基于PI观测器(PIO)的自抗扰电流解耦方法。该方法将PIO和扩张状态观测器相结合，实时准确地估计系统中的扰动，并将观测出的扰动量作为补偿值反馈到输入端，从而实现d、q轴间电流解耦、抑制扰动。对改进前后自抗扰控制器(ADRC)的扰动跟踪性能，闭环控制系统的抗扰性及稳定性做了理论分析。仿真和试验结果表明，引入PIO后，ADRC的扰动观测能力和电流解耦效果得到了提高，验证了所提方法的可行性和有效性。

In order to improve the current decoupling effect of permanent magnet synchronous motor (PMSM), an active disturbance rejection control (ADRC) method with current decoupling based on PI observer (PIO) is proposed. In this method, PIO and extended state observer are combined to estimate the disturbance accurately in real time, and the observed disturbance is fed back to the input as compensation value, so as to realize the current decoupling between d and q axes and suppress the disturbance. The disturbance tracking performance of the improved ADRC and the disturbance rejection performance and stability of the closed-loop control system are analyzed theoretically. The results of simulation and experiment show that the disturbance estimation ability of ADRC is enhanced and the decoupling effect of current loop is improved after introducing PIO, which verifies the feasibility and effectiveness of the proposed method.