Low-voltage servo discrete linear active disturbance rejection control method

A low-voltage servo discrete linear active disturbance rejection control method comprises the following steps: the controlled object orders of a speed loop and a current loop of a low-voltage servo driver are determined according to a current differential equation and a motion equation of a servo motor, and the order of a linear active disturbance rejection controller is determined according to the controlled object orders; a continuous linear active disturbance rejection controller is designed for the speed loop and the current loop, the continuous controller is discretized through an Euler discretization method, and the corresponding relation between the matrixes of the continuous controller and the discrete controller is determined; and the rotational inertia and inductance parameters of the motor are identified by using a parameter identification method to design a compensation factor of the linear active disturbance rejection controller, the digital controller delay of the current loop is considered in p