Wavelet-Enhanced Active Disturbance Rejection Control for PMSM in Low-Speed Textile Processing

Xiaoyan Han 

Article
2026 / Volume 9 / Pages 748-776
Received 30 September 2025; Accepted 30 October 2025; Published 31 March 2026
https://doi.org/10.31881/TLR.2026.748

Abstract
This paper addresses the speed fluctuation problem of permanent magnet synchronous machines (PMSMs) under low-speed conditions in high-precision fabric and leather processing. An improved Active Disturbance Rejection Control (ADRC) algorithm is proposed. Based on a tracking differentiator-extended state observer-nonlinear state error feedback law structure, a wavelet packet analysis-enhanced adaptive extended state observer (AESO) is used to estimate and compensate for composite disturbances. A hyperbolic tangent nonlinear feedback law is applied to suppress chattering, and a recursive least squares (RLS) algorithm is employed for online identification and feedforward compensation of time-varying parameters. The integral absolute error (IAE) is reduced to 0.019 rad·s, and the ability to suppress disturbances below 5 Hz is significantly improved. The system maintains stable control under a +50% large parameter disturbance. This method improves the operational stability of low-speed textile and leather processing tasks, achieving higher fabric quality, reducing material waste, and improving the preci-sion of automated manufacturing.

Keywords
textile machinery, permanent magnet synchronous machine, precision motion control, active disturbance rejection control, robust control