在永磁同步电机(PMSM)调速系统中，提出采用自抗扰控制(ADRC)设计PMSM调速系统速度环，针对调速系统控制特性和ADRC策略特点，改进ADRC中的扩张状态观测器。同时，采用非线性扩张状态观测器(NESO)观测系统负载转矩并进行前馈补偿，以降低系统负载转矩扰动影响。综合以上两点改进措施，设计出速度环改进型自抗扰控制器(IADRC)。通过仿真和试验验证了IADRC在PMSM调速系统中的有效性。

In the speed control system of permanent magnet synchronous motor (PMSM), it is proposed to adopt the active disturbance rejection control (ADRC) to design the speed loop. According to the control performance of the speed control system and the characteristics of the ADRC strategy, the extended state observer in the ADRC is improved. At the same time, the nonlinear extended state observer (NESO) is used for both the observation of the system load torque and the feedforward compensation, so as to reduce the influence of load torque disturbance. Based on the above two measures, an improved ADRC (IADRC) controller of speed loop is designed. The effectiveness of the IADRC controller in the speed control system of PMSM is verified by simulation and experiments.