To allow a complex, high-order, nonlinear three-phase asynchronous motor to track a load torque quickly and realize high performance speed regulation, a precise nonlinear feedback linearization method based on the theory of differential geometry was used to transform the motor nominal dynamic model into two completely decoupled, second-order, linear rotor speed and flux linkage subsystems. Two active disturbance rejection controllers (ADRC) with identical structures were designed for the rotor speed and flux linkage subsystems. The extended state observer (ESO) of the ADRC could estimate the unmodeled dynamics of the motor and the variation of motor parameters. A crane hoisting motor driving system was selected as an experimental object. A closed-loop system with ADRC and an open-loop system without a controller were compared. The motor’s full-load starting time was reduced by about 50%. When the motor operated smoothly at different load rates and the rated load was suddenly applied, the electromagnetic torque would change, but the fluctuation range did not exceed 20 N·m. The nominal dynamics model of the motor was completely decoupled into two independent subsystems of the speed and flux linkage. The rotor flux was always stable at the reference value. The motor speed decreased, but the amount of decrease did not exceed 7 rad·s⁻¹. The closed-loop system had a significant energy-saving effect during the motor’s starting process. The power saving rate could exceed 50% when the motor started with a light load. Even, the power saving rate could reach about 70% if the motor started with a heavy load. Furthermore, the motor with ADRC could adapt to parameter variations and ADRC exhibited strong robustness.

为了使复杂、高阶、非线性的三相异步电动机能够快速跟踪负载转矩并实现高性能调速，采用基于微分几何理论的精密非线性反馈线性化方法对电动机标称动态模型进行变换。分成两个完全解耦的二阶线性转子速度和磁链子系统。两个具有相同结构的自抗扰控制器（ADRC）被设计用于转子速度和磁链子系统。ADRC 的扩展状态观测器 (ESO) 可以估计电机的未建模动力学和电机参数的变化。以起重机起升电机驱动系统为实验对象。对带有 ADRC 的闭环系统和不带控制器的开环系统进行了比较。电机的满载启动时间减少了约50%。当电机在不同负载率下平稳运行，突然施加额定负载时，电磁转矩会发生变化，但波动范围不超过20 N·m。电机的标称动力学模型完全分离为速度和磁链的两个独立子系统。转子磁通始终稳定在参考值。电机转速下降，但下降量不超过7 rad·s 电机的标称动力学模型完全分离为速度和磁链的两个独立子系统。转子磁通始终稳定在参考值。电机转速下降，但下降量不超过7 rad·s 电机的标称动力学模型完全分离为速度和磁链的两个独立子系统。转子磁通始终稳定在参考值。电机转速下降，但下降量不超过7 rad·s^-1。闭环系统在电机启动过程中具有显着的节能效果。电机轻载启动时节电率可达50%以上。甚至，如果电机重载启动，节电率可达70%左右。此外，带有 ADRC 的电机可以适应参数变化，并且 ADRC 表现出很强的鲁棒性。