仿真模型 基于自抗扰控制技术的永磁同步电机直接转矩控制。比普通PID、模糊神经网络等控制更先进-Speed regulator based on ADRC of PMSM DTC is designed. ADRC adopts nonlinear　control　method,　and　is　composed　of　track-differentiator　(TD),　extended state　observer　(ESO),　nonlinear　state　error　feedback　(NLSEF)　and　the　disturbance compensation.　Disturbance　can　be　estimated　and　compensated　real　time.　In　order　to suppress　external　disturbances　such　as　changes　in　loads　and　friction　torque,　and internal disturbances such as motor parameters changes in the PMSM servo system, the changes of above parameters are seen as a PMSM servo system disturbance.