Design of servo motor controller applied in coaxial two-wheeled electric scooter

Servo system has been applied in the executive mechanism of coaxial two-wheeled electric scooter pose control. The pose control requires high accuracy and strong robustness of the servo system. However, the characteristics of servo system based on linear PID regulator are not very excellent. To improve the performances, a novel servo system of permanent magnet synchronous motor (PMSM), based on active-disturbance rejection controller (ADRC) theory, is presented in this paper. The proposed position servo system is suitable to coaxial two-wheeled electric scooter pose control, because of high accuracy, speedy response, no overshoot and strong robustness proved by simulation results.