A Position Control Based on Active Disturbance Rejection Controller Considering Parameter Variations of Harmonic Drive Gear Systems

2021 ◽  
Author(s):  
Xi Zeng ◽  
Yilin Ma ◽  
Huan Yang
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Harmonic Drive ◽  
Drive Gear ◽  
Active Disturbance Rejection ◽  
Parameter Variations ◽  
Gear Systems

scholarly journals Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6124
Author(s):  
Lixin Wang ◽  
Dingxuan Zhao ◽  
Fucai Liu ◽  
Qian Liu ◽  
Zhuxin Zhang
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dead Zone ◽  
Lyapunov Theory ◽  
Least Square ◽  
Synchronization Control ◽  
Hydraulic Actuator ◽  
Dead Zones ◽  
Hydraulic Actuators ◽  
Active Disturbance Rejection

In this paper, an integrated control strategy of position synchronization control for dual-electro-hydraulic actuators with unknown dead-zones is proposed. The unified control scheme consists of two parts: One is adaptive dead-zone inverse controllers of each hydraulic actuator to offset the unknown dead-zones. The other is the linear active disturbance rejection controller (LADRC) for position synchronization error. First, the model of the electro-hydraulic proportional position control system (EPPS) was identified by the forgetting factor recursive least square (FFRLS) algorithm. Next, the model reference dead-zone inverse adaptive controller (MRDIAC) was developed to compensate for the delay of actuator response caused by unknown proportional valve dead-zones. Meanwhile, the validity of the adaptive law was proven by the Lyapunov theory. Therefore, the position control accuracy of each hydraulic actuator is guaranteed. Besides, to improve the precision of position synchronization control of dual-hydraulic actuators, a simple and elegant synchronous error-based LADRC was adopted, which applies the total disturbances design concept to eliminate and compensate for motion coupling rather than cross-coupling technology. The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.

scholarly journals Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Emre Sariyildiz ◽  
Rahim Mutlu ◽  
Chuanlin Zhang
Keyword(s):  
State Space ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Position Control ◽  
Controller Design ◽  
Design Method ◽  
Control Input ◽  
Active Disturbance Rejection ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

This paper proposes a new active disturbance rejection (ADR) based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references are generated in terms of a fictitious design variable, namely differentially flat output, and the estimations of disturbances by using differential flatness (DF) and disturbance observer (DOb). Two different robust controller design techniques are proposed by using Brunovsky canonical form and polynomial matrix form approaches. The robust position control problem of a two mass-spring-damper system is studied to verify the proposed ADR controllers.

Active Disturbance Rejection Control in Airborne Direct Drive Electro Mechanical Actuator Application

2014 ◽  
Vol 551 ◽  
pp. 541-547
Author(s):  
He Song Liu ◽  
Yong Ling Fu ◽  
Juan Chen ◽  
Hui Chen
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dynamic Performance ◽  
Active Disturbance Rejection Control ◽  
Control Performance ◽  
Direct Drive ◽  
Active Disturbance Rejection ◽  
Load Disturbance ◽  
Disturbance Rejection Control ◽  
Actuator Application

A novel active disturbance rejection control (ADRC) strategy is presented to improve position control performance of airborne direct drive electro-mechanical actuator (EMA). To begin with, kinematics model of the direct drive EMA is deduced for simulation benefits. Then, an ADRC controller is designed to implement the position control. Finally, simulation work is put forward to verify the steady-state precision, dynamic performance and load disturbance rejection ability, accounting for over-running load. The results verify that the ADRC-based EMA servo system is fast, precise, of no overshoot and strongly robust to load disturbance.

Active Disturbance Rejection Control for Hydraulic Position Control System of High-Quality Cold Rolling Mill

2012 ◽  
Vol 572 ◽  
pp. 114-119
Author(s):  
Xiao Fei Xiang ◽  
Zhe Wang ◽  
Fei Zhang ◽  
Li Zhao
Keyword(s):  
Control System ◽  
Cold Rolling ◽  
Disturbance Rejection ◽  
Rolling Mill ◽  
Position Control ◽  
Tracking System ◽  
Cold Rolling Mill ◽  
Stability Margins ◽  
Active Disturbance Rejection ◽  
Position Control System

Active disturbance rejection controller (ADRC) instead of the conventional PID controller in the hydraulic position control system is proposed to satisfy high accuracy and speed requirements in cold rolling mill. Based on the simplified model, frequency-domain analysis of the two kinds of controllers is performed. The results show that ADRC produces better performances, such as bandwidth, stability margins. Because of the extended state observer (ESO) that can estimate and compensate the tracking system in real time, ADRC reduces the dependence on accurate mathematical model, improves anti-disturbance capability of the system, and maintains good dynamic characteristics. The simulation results verified the effect of the conclusion.

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