In this paper, an active disturbance rejection control (ADRC) controller based on a novel nonlinear phase-locked loop observer (NPLLO) is proposed to improve the disturbance rejection property and suspension performance of bearingless permanent-magnet slice motor (BPMSM) for bearingless pumps. First, based on the mathematical model of BPMSM for bearingless pumps, the novel NPLLO, a structure derived from the nonlinear phase-locked loop (PLL) and combining a special nonlinear function, is designed to estimate the uncertainties and load/radial disturbance in real time. Second, NPLLO-based ADRC (NP-ADRC) controllers are designed for rotation and suspension, respectively. Third, the parameter tuning of NP-ADRC is analyzed. Finally, NP-ADRC is analyzed with simulation in MATLAB/Simulink and verified on a BPMSM test bench. Both simulation and experimental results verified the effectiveness of the proposed method.
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