Fig. 1. Block diagram of PMLSM servo system

Fig. 2. Block diagram of current deviation decoupling control

Fig. 3. Block diagram of PMLSM based on SADRC-CDDC

Fig. 4. Hardware structure diagram of PMLSM control system

Fig. 5. Test platform

Fig. 6. Speed response curve of no-load start

Fig. 7. Current response curves with Ld=L̂d，Lq=L̂q of no-load start

Fig. 8. Current response curves of d and q axis with Ld=1.2L̂d，Lq=0.8L̂q of no-load start

Fig. 9. Current response curves of d and q axis with Ld=1.3L̂d，Lq=1.5L̂q of no-load start

Fig. 10. Speed response curve of rated load start

Fig. 11. Current response curves of d and q axis with Ld=L̂d，Lq=L̂q of rated load start

Fig. 12. Current response curves of d and q axis with Ld=1.2L̂d，Lq=0.8L̂q of rated load start

Fig. 13. Current response curves of d and q axis with Ld=1.3L̂d，Lq=1.5L̂q of rated load start