The fractional order calculus is the expansion of the traditional calculus. It has the same concept and mathematical analysis tool as the traditional calculus, but it is more universal and applicable. The differential factor or the integral factor of the traditional calculus must be an integer while the differential factor or the integral factor of the fractional order calculus can be an arbitrary order. The research of the fractiaonal order calculus stays in the field of mathematics in a long time because people have not found the fractional order calculus in nature. Along with people to explore the nature in depth, the fractional order calculus theory begins to develop in the control field in recent decades.In this paper, the basic concepts and properties of fractional order are introduced firstly, then the structure model and basic control principle of permanent magnet synchronous motor are introduced, including the basic structure and mathematical model of permanent magnet synchronous motor, the related knowledge of vector transform and the pulse width modulation. After that, the related principle of sliding mode control is introduced. Then the traditional sliding mode control technology is reformed by the fractional order symbolic function and the fractional order sliding mode control is applied in the control system of permanent magnet synchronous motor in this paper.Finally, this paper introduces the active disturbance rejection control(ADRC) technology based on the fractional order. Using the permanent magnet synchronous motor as the control object, the hardware platform and the software platform for experiment are built. The good performance of the new controller is verified by the simulation results and the experimental results. |