The electrification of agricultural machinery has become an important trend. Active Disturbance Rejection Control (ADRC) shows considerable potential in agricultural motor control due to its low model dependence and strong anti-disturbance capability. However, the Extended State Observer (ESO) of traditional ADRC is limited by bandwidth, making it difficult to effectively capture high-frequency impact disturbances such as torque fluctuations during straw cutting, which results in reduced efficiency and increased energy consumption. To address this, this paper proposes an improved ADRC scheme: designing a Super-Twisting Extended State Observer (STESO) by integrating Super-Twisting technology to enhance disturbance observation capability; incorporating a Quasi-Proportional Resonant (QPR) controller into the Error Feedback Control Law (SEF) to compensate for the shortcoming of disturbance suppression beyond ESO bandwidth; and proposing a decoupling strategy to reduce the difficulty of parameter tuning and optimize control performance. Simulations and experiments on the Permanent Magnet Synchronous Motor (PMSM) of an automatic seeder demonstrate that the proposed method can effectively suppress various disturbances, reduce speed regulation errors, and not deteriorate dynamic responses.

The built-in V-shaped permanent magnet motor can effectively utilize reluctance torque to improve torque density, but there is also a problem of large torque ripple causing high vibration noise. This article proposes a rotor structure with four magnetic isolation holes to reduce torque ripple in V-shaped built-in permanent magnet motors. Firstly, a finite element analysis model of the built-in V-shaped permanent magnet motor is established. The influence of slot width, rotor rib width, and magnetic bridge parameters on the torque of the permanent magnet motor was studied through parameterized scanning, and an optimization scheme was selected. Then, the position and size of the magnetic hole were optimized through an adaptive single-objective algorithm. Compared with the ordinary built-in V-shaped structure, the torque ripple of the built-in V-shaped permanent magnet motor with four magnetic isolation holes is reduced from 17.7% to 6.7%. The proposed internal V-shaped rotor structure with magnetic isolation holes and the optimization method can effectively reduce torque ripple, thus effectively solving the problem of vibration noise caused by torque ripple.