# Optimization of Ship Permanent Magnet Synchronous Motor ADRC Based on Improved QPSO
## 6 Conclusions  
This paper addresses the high-performance control of Permanent Magnet Synchronous Motors (PMSM) in ship propulsion systems and proposes an Active Disturbance Rejection Control (ADRC) strategy based on the improved Quantum Particle Swarm Optimization (QPSO) algorithm. PMSMs are commonly used in ship propulsion systems due to their high power density, efficiency, and low maintenance requirements. However, the complex marine environment and load variations place increased requirements on motor controllers, such as faster dynamic response, higher steady-state accuracy, and stronger disturbance rejection capability. The nonlinear function used in traditional Extended State Observers (ESOs) tends to result in a decline in observation accuracy under large error conditions. The proposed new smooth nonlinear function mitigates this issue. In large error scenarios, the function avoids the saturation effect of traditional nonlinear functions and significantly improves  
Figure 17: FFT Analysis of Phase A. \begin{table}
\begin{tabular}{c c c} \hline \hline
**Control Method** & \
\begin{tabular}{c} **Rotational Speed Fitness** \\ **Value** \\ \end{tabular} &
\begin{tabular}{c} **Torque Fitness Value** \\ \end{tabular} \\ \hline PSO-ADRC & 4.48 & 4.19 \\ IPSO-ADRC & 3.63 & 3.22 \\ ICFO-ADRC & 7.95 & 4.36 \\ QPSO-ADRC & 2.39 & 2.06 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Speed and Torque Fitness Values in PMSM Simulation Experiment. the system's adaptability to large disturbances. For ADRC parameter optimization, the improved Quantum Behavior Particle Swarm Optimization (QPSO) algorithm replaces the traditional random term with a dual-wave function model combining Gaussian and Cauchy distributions. The Gaussian distribution strengthens the global search capability, ensuring efficient coverage of the parameter space in the early stages of optimization, while the Cauchy distribution, with its long-tail characteristics, enhances local convergence, facilitating more precise parameter adjustment in later stages. Moreover, QPSO dynamically adjusts the weights of the dual-wave function model, effectively balancing global search and local development at different stages of optimization, reducing the risk of converging to local optima and further improving the system's control performance. Finally, a comparative analysis of the QPSO-ADRC control method, traditional PSO-ADRC controller, ICFO-ADRC controller, and IPSO-ADRC controller is conducted on the Matlab/Simulink platform. Experimental results demonstrate that QPSO-ADRC can quickly adjust to sudden load changes, enabling the PMSM to rapidly stabilize its speed and current, thereby significantly reducing overshoot and adjustment time. In terms of steady-state accuracy, QPSO-ADRC shows significantly lower steady-state error under complex load conditions compared to other control methods due to the higher parameter adjustment precision in the later stages of optimization. In terms of disturbance rejection capability, QPSO-ADRC, with its enhanced ADRC structure and optimized algorithm, exhibits stronger suppression of external disturbances and system nonlinearities, ensuring system stability and robustness under varying disturbance conditions. Conceptualization, H.X. ; methodology, H.X. ; software, H.X. ; validation, H.X. and J.Z. ; formal analysis, H.X. ; investigation, H.X. ; resources, J.Z. ; data curation, H.X. ; writing--original draft preparation, H.X. ; writing--review and editing, H.X., Y.C., A.M. and J.L. ; visualization, H.X. ; supervision, J.Z. ; project administration, J.Z. ; funding acquisition, J.Z. All authors have read and agreed to the published version of the manuscript. National Natural Science Foundation of China National Major Research Instrument Development Project: New technological equipment of the rapid and green disinfection SARS-CoK-2 using hydroxyl radicals in cold chain logistics (Number: 62127806). Not applicable. The data presented in this study are available upon request from the corresponding author.