传统比例积分（proportional-integral, PI）控制器在永磁同步电机（permanent magnet synchronous motor, PMSM）矢量控制中，存在转速超调和抗外部扰动能力差的问题。针对这一问题，设计了一种能提高自抗扰控制器对内外扰动观测精度的线性扩张状态观测器（linear extended state estimator, LESO），并在此基础上设计了用于PMSM转速控制的线性自抗扰控制（linear active disturbance rejection control, LADRC）系统。通过仿真和实验，验证了基于改进LADRC的PMSM矢量控制系统能达到更高的观测精度，实现转速的快速无超调的高精度控制，且对负载扰动具有良好的鲁棒性。

The traditional proportional-integral (PI) controller has some problems in permanent magnet synchronous motor (PMSM) servo control, such as overspeed and poor resistance to external disturbance. To solve the above problems, a linear extended state estimator (LESO) was designed to improve the observation accuracy of the active disturbance rejection controller for internal and external disturbances. A linear active disturbance rejection (LADRC) system based on the improved LESO was designed for the PMSM servo speed control system. Through simulation and experiment, it was verified that the PMSM servo system based on the improved LADRC can achieve higher observation accuracy, fast and high precision control of speed without overshoot, and good robustness to load disturbance.