说明：  仿真模型 基于自抗扰控制技术的永磁同步电机直接转矩控制。比普通PID、模糊神经网络等控制更先进
(Speed regulator based on ADRC of PMSM DTC is designed. ADRC adopts nonlinear control method, and is composed of track-differentiator (TD), extended state observer (ESO), nonlinear state error feedback (NLSEF) and the disturbance compensation. Disturbance can be estimated and compensated real time. In order to suppress external disturbances such as changes in loads and friction torque, and internal disturbances such as motor parameters changes in the PMSM servo system, the changes of above parameters are seen as a PMSM servo system disturbance. )